pid tuning: add MPC_POS_MODE, MC_AIRMODE and THR_MDL_FAC params

src/AutoPilotPlugins/PX4/PX4TuningComponentCopterRate.qml

@@ -18,7 +18,38 @@ import QGroundControl.FactControls  1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
 
-PIDTuning {
+Column {
+    width: availableWidth
+    property Fact _airmode:           controller.getParameterFact(-1, "MC_AIRMODE", false)
+    property Fact _thrustModelFactor: controller.getParameterFact(-1, "THR_MDL_FAC", false)
+
+    GridLayout {
+        columns: 2
+
+        QGCLabel {
+            textFormat:         Text.RichText
+            text:               qsTr("Airmode (disable during tuning) <b><a href=\"https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#airmode-mixer-saturation\">?</a></b>:")
+            onLinkActivated:    Qt.openUrlExternally(link)
+            visible:            _airmode
+        }
+        FactComboBox {
+            fact:               _airmode
+            indexModel:         false
+            visible:            _airmode
+        }
+
+        QGCLabel {
+            textFormat:         Text.RichText
+            text:               qsTr("Thrust curve <b><a href=\"https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#thrust-curve\">?</a></b>:")
+            onLinkActivated:    Qt.openUrlExternally(link)
+            visible:            _thrustModelFactor
+        }
+        FactTextField {
+            fact:               _thrustModelFactor
+            visible:            _thrustModelFactor
+        }
+    }
+    PIDTuning {
         width: availableWidth
 
         property var roll: QtObject {
@@ -119,5 +150,6 @@ PIDTuning {
         unit: "deg/s"
         axis: [ roll, pitch, yaw ]
         chartDisplaySec: 3
+    }
 }
 

src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml

@@ -18,9 +18,26 @@ import QGroundControl.FactControls  1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
 
-PIDTuning {
+Column {
     width: availableWidth
+    property Fact _mcPosMode:       controller.getParameterFact(-1, "MPC_POS_MODE", false)
 
+    GridLayout {
+        columns: 2
+
+        QGCLabel {
+            text:               qsTr("Position control mode (set this to 'simple' during tuning):")
+            visible:            _mcPosMode
+        }
+        FactComboBox {
+            fact:               _mcPosMode
+            indexModel:         false
+            visible:            _mcPosMode
+        }
+    }
+
+    PIDTuning {
+        width: availableWidth
         property var horizontal: QtObject {
             property string name: qsTr("Horizontal")
             property string plotTitle: qsTr("Horizontal (Y direction, sidewards)")
@@ -94,6 +111,7 @@ PIDTuning {
         tuningMode: Vehicle.ModeVelocityAndPosition
         unit: "m/s"
         axis: [ horizontal, vertical ]
+    }
 }