pid tuning: add page for FW TECS tuning

src/AutoPilotPlugins/PX4/PX4TuningComponent.cc

@@ -12,8 +12,9 @@
 #include "PX4AutoPilotPlugin.h"
 #include "AirframeComponent.h"
 
-static bool isCopter(MAV_TYPE type) {
+static bool isCopterOrFW(MAV_TYPE type) {
     switch (type) {
+        case MAV_TYPE_FIXED_WING:
         case MAV_TYPE_QUADROTOR:
         case MAV_TYPE_COAXIAL:
         case MAV_TYPE_HELICOPTER:
@@ -29,7 +30,7 @@ static bool isCopter(MAV_TYPE type) {
 
 PX4TuningComponent::PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
-    , _name(isCopter(vehicle->vehicleType()) ? tr("PID Tuning") : tr("Tuning"))
+    , _name(isCopterOrFW(vehicle->vehicleType()) ? tr("PID Tuning") : tr("Tuning"))
 {
 }
 

src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml

@@ -25,61 +25,31 @@ SetupPage {
     Component {
         id: pageComponent
 
-        Column {
+        Item {
             width: availableWidth
 
-            Component.onCompleted: {
-                // We use QtCharts only on Desktop platforms
-                showAdvanced = !ScreenTools.isMobile
-            }
-
             FactPanelController {
                 id:         controller
             }
 
-            // Standard tuning page
-            FactSliderPanel {
-                width:          availableWidth
-                visible:        !advanced
-                sliderModel: ListModel {
-                    ListElement {
-                        title:          qsTr("Cruise throttle")
-                        description:    qsTr("This is the throttle setting required to achieve the desired cruise speed. Most planes need 50-60%.")
-                        param:          "FW_THR_CRUISE"
-                        min:            20
-                        max:            80
-                        step:           1
-                    }
+            QGCTabBar {
+                id:             bar
+                width:          parent.width
+                anchors.top:    parent.top
+                QGCTabButton {
+                    text:       qsTr("TECS")
                 }
             }
 
+            property var pages:  [
+                "PX4TuningComponentPlaneTECS.qml",
+            ]
+
             Loader {
-                anchors.left:       parent.left
-                anchors.right:      parent.right
-                sourceComponent:    advanced ? advancePageComponent : undefined
+                source:         pages[bar.currentIndex]
+                width:          parent.width
+                anchors.top:    bar.bottom
             }
-
-            Component {
-                id: advancePageComponent
-
-                PIDTuning {
-                    anchors.left:   parent.left
-                    anchors.right:  parent.right
-                    tuneList:            [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
-                    params:              [
-                        [ controller.getParameterFact(-1, "FW_RR_P"),
-                         controller.getParameterFact(-1, "FW_RR_I"),
-                         controller.getParameterFact(-1, "FW_RR_FF"),
-                         controller.getParameterFact(-1, "FW_R_TC"),],
-                        [ controller.getParameterFact(-1, "FW_PR_P"),
-                         controller.getParameterFact(-1, "FW_PR_I"),
-                         controller.getParameterFact(-1, "FW_PR_FF"),
-                         controller.getParameterFact(-1, "FW_P_TC") ],
-                        [ controller.getParameterFact(-1, "FW_YR_P"),
-                         controller.getParameterFact(-1, "FW_YR_I"),
-                         controller.getParameterFact(-1, "FW_YR_FF") ] ]
-                }
-            } // Component - Advanced Page
-        } // Column
+        }
     } // Component - pageComponent
 } // SetupPage

src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneTECS.qml

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ * (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+
+Column {
+    width: availableWidth
+
+    PIDTuning {
+        width: availableWidth
+        property var data: QtObject {
+            property string name: qsTr("Altitude & Airspeed")
+            property var plot: [
+                { name: "Airspeed", value: globals.activeVehicle.airSpeed.value },
+                { name: "Airspeed Setpoint", value: globals.activeVehicle.airSpeedSetpoint.value },
+                { name: "Altitide (Rel)", value: globals.activeVehicle.altitudeTuning.value },
+                { name: "Altitude Setpoint", value: globals.activeVehicle.altitudeTuningSetpoint.value }
+            ]
+            property var params: ListModel {
+                ListElement {
+                    title:          qsTr("Height rate feed forward (FW_T_HRATE_FF)")
+                    description:    qsTr("TODO")
+                    param:          "FW_T_HRATE_FF"
+                    min:            0
+                    max:            1
+                    step:           0.05
+                }
+            }
+            // TODO: add other params
+        }
+        anchors.left:   parent.left
+        anchors.right:  parent.right
+        title: "TECS"
+        tuningMode: Vehicle.ModeAltitudeAndAirspeed
+        unit: ""
+        axis: [ data ]
+    }
+}
+
+
+

src/FirmwarePlugin/PX4/PX4Resources.qrc

@@ -16,6 +16,7 @@
         <file alias="PX4TuningComponentCopterRate.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentCopterRate.qml</file>
         <file alias="PX4TuningComponentCopterVelocity.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml</file>
         <file alias="PX4TuningComponentPlane.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml</file>
+        <file alias="PX4TuningComponentPlaneTECS.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlaneTECS.qml</file>
         <file alias="PX4TuningComponentVTOL.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentVTOL.qml</file>
         <file alias="SafetyComponent.qml">../../AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="SafetyComponentSummary.qml">../../AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>

src/QmlControls/PIDTuning.qml

@@ -167,6 +167,7 @@ RowLayout {
 
             RowLayout {
                 spacing: _margins
+                visible: axis.length > 1
 
                 QGCLabel { text: qsTr("Select Tuning:") }