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refactor PIDTuning: make it more generic, allowing to configure plot axes

QGC4.4
Beat Küng 4 years ago committed by Lorenz Meier
parent
13fce52f25
commit
30cff8084f
2 changed files with 151 additions and 192 deletions
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  1. 159
      src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
  2. 184
      src/QmlControls/PIDTuning.qml

159
src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
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@ -34,84 +34,103 @@ SetupPage { @@ -34,84 +34,103 @@ SetupPage {
PIDTuning {
width: availableWidth
property var rollList: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_ROLLRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_ROLLRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_ROLLRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_ROLLRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_ROLLRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_ROLLRATE_I"
min: 0.1
max: 0.5
step: 0.025
property var roll: QtObject {
property string name: qsTr("Roll")
property var plot: [
{ name: "Response", value: globals.activeVehicle.rollRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_ROLLRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_ROLLRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_ROLLRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_ROLLRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_ROLLRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_ROLLRATE_I"
min: 0.1
max: 0.5
step: 0.025
}
}
}
property var pitchList: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_PITCHRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_PITCHRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_PITCHRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_PITCHRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_PITCHRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_PITCHRATE_I"
min: 0.1
max: 0.5
step: 0.025
property var pitch: QtObject {
property string name: qsTr("Pitch")
property var plot: [
{ name: "Response", value: globals.activeVehicle.pitchRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_PITCHRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_PITCHRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_PITCHRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_PITCHRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_PITCHRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_PITCHRATE_I"
min: 0.1
max: 0.5
step: 0.025
}
}
}
property var yawList: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_YAWRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_YAWRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Integral Gain (MC_YAWRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_YAWRATE_I"
min: 0.04
max: 0.4
step: 0.02
property var yaw: QtObject {
property string name: qsTr("Yaw")
property var plot: [
{ name: "Response", value: globals.activeVehicle.yawRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_YAWRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_YAWRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Integral Gain (MC_YAWRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_YAWRATE_I"
min: 0.04
max: 0.4
step: 0.02
}
}
}
anchors.left: parent.left
anchors.right: parent.right
tuneList: [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
params: [
rollList,
pitchList,
yawList
]
title: "Rate"
unit: "deg/s"
axis: [ roll, pitch, yaw ]
}
} // Column
} // Component - pageComponent

184
src/QmlControls/PIDTuning.qml
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@ -21,34 +21,21 @@ import QGroundControl.ScreenTools 1.0 @@ -21,34 +21,21 @@ import QGroundControl.ScreenTools 1.0
RowLayout {
layoutDirection: Qt.RightToLeft
property var tuneList
property var params
property var axis
property string unit
property string title
property real _chartHeight: ScreenTools.defaultFontPixelHeight * 20
property real _margins: ScreenTools.defaultFontPixelHeight / 2
property string _currentTuneType: tuneList[0]
property real _rollRate: globals.activeVehicle.rollRate.value
property real _rollRateSetpoint: globals.activeVehicle.setpoint.rollRate.value
property real _pitchRate: globals.activeVehicle.pitchRate.value
property real _pitchRateSetpoint: globals.activeVehicle.setpoint.pitchRate.value
property real _yawRate: globals.activeVehicle.yawRate.value
property real _yawRateSetpoint: globals.activeVehicle.setpoint.yawRate.value
property var _valueRateXAxis: valueRateXAxis
property var _valueRateYAxis: valueRateYAxis
property int _currentAxis: 0
property var _xAxis: xAxis
property var _yAxis: yAxis
property int _msecs: 0
property double _last_t: 0
property var _savedTuningParamValues: [ ]
property bool _showCharts: !ScreenTools.isMobile // TODO: test and enable on mobile
// The following are set when getValues is called
property real _valueRate
property real _valueRateSetpoint
readonly property int _tickSeparation: 5
readonly property int _maxTickSections: 10
readonly property int _tuneListRollIndex: 0
readonly property int _tuneListPitchIndex: 1
readonly property int _tuneListYawIndex: 2
readonly property int _chartDisplaySec: 3 // number of seconds to display
function adjustYAxisMin(yAxis, newValue) {
@ -69,77 +56,58 @@ RowLayout { @@ -69,77 +56,58 @@ RowLayout {
yAxis.max = newMax
}
function getValues() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
_valueRate = _rollRate
_valueRateSetpoint = _rollRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
_valueRate = _pitchRate
_valueRateSetpoint = _pitchRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
_valueRate = _yawRate
_valueRateSetpoint = _yawRateSetpoint
}
}
function resetGraphs() {
valueRateSeries.removePoints(0, valueRateSeries.count)
valueRateSetpointSeries.removePoints(0, valueRateSetpointSeries.count)
_valueRateXAxis.min = 0
_valueRateXAxis.max = 0
_valueRateYAxis.min = 0
_valueRateYAxis.max = 10
for (var i = 0; i < chart.count; ++i) {
chart.series(i).removePoints(0, chart.series(i).count)
}
_xAxis.min = 0
_xAxis.max = 0
_yAxis.min = 0
_yAxis.max = 0
_msecs = 0
_last_t = 0
}
function currentTuneTypeIndex() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
return _tuneListRollIndex
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
return _tuneListPitchIndex
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
return _tuneListYawIndex
}
}
// Save the current set of tuning values so we can reset to them
function saveTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
_savedTuningParamValues = [ ]
for (var i=0; i<params[tuneTypeIndex].count; i++) {
for (var i=0; i<axis[_currentAxis].params.count; i++) {
var currentTuneParam = controller.getParameterFact(-1,
params[tuneTypeIndex].get(i).param)
axis[_currentAxis].params.get(i).param)
_savedTuningParamValues.push(currentTuneParam.valueString)
}
savedRepeater.model = _savedTuningParamValues
}
function resetToSavedTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
for (var i=0; i<params[tuneTypeIndex].count; i++) {
for (var i=0; i<axis[_currentAxis].params.count; i++) {
var currentTuneParam = controller.getParameterFact(-1,
params[tuneTypeIndex].get(i).param)
axis[_currentAxis].params.get(i).param)
currentTuneParam.value = _savedTuningParamValues[i]
}
}
function axisIndexChanged() {
chart.removeAllSeries()
axis[_currentAxis].plot.forEach(function(e) {
chart.createSeries(ChartView.SeriesTypeLine, e.name, xAxis, yAxis);
})
chart.title = axis[_currentAxis].name + " " + title
saveTuningParamValues()
resetGraphs()
}
Component.onCompleted: {
axisIndexChanged()
globals.activeVehicle.setPIDTuningTelemetryMode(true)
saveTuningParamValues()
}
Component.onDestruction: globals.activeVehicle.setPIDTuningTelemetryMode(false)
on_CurrentTuneTypeChanged: {
saveTuningParamValues()
resetGraphs()
}
on_CurrentAxisChanged: axisIndexChanged()
ValueAxis {
id: valueRateXAxis
id: xAxis
min: 0
max: 0
labelFormat: "%.2f"
@ -148,10 +116,10 @@ RowLayout { @@ -148,10 +116,10 @@ RowLayout {
}
ValueAxis {
id: valueRateYAxis
id: yAxis
min: 0
max: 10
titleText: "deg/s"
titleText: unit
tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
}
@ -162,21 +130,17 @@ RowLayout { @@ -162,21 +130,17 @@ RowLayout {
repeat: true
onTriggered: {
_valueRateXAxis.max = _msecs / 1000
_valueRateXAxis.min = _msecs / 1000 - _chartDisplaySec
getValues()
if (!isNaN(_valueRate)) {
valueRateSeries.append(_msecs/1000, _valueRate)
adjustYAxisMin(_valueRateYAxis, _valueRate)
adjustYAxisMax(_valueRateYAxis, _valueRate)
}
if (!isNaN(_valueRateSetpoint)) {
valueRateSetpointSeries.append(_msecs/1000, _valueRateSetpoint)
adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint)
adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint)
_xAxis.max = _msecs / 1000
_xAxis.min = _msecs / 1000 - _chartDisplaySec
var len = axis[_currentAxis].plot.length
for (var i = 0; i < len; ++i) {
var value = axis[_currentAxis].plot[i].value
if (!isNaN(value)) {
chart.series(i).append(_msecs/1000, value)
adjustYAxisMin(_yAxis, value)
adjustYAxisMax(_yAxis, value)
}
}
var t = new Date().getTime() // in ms
@ -194,42 +158,33 @@ RowLayout { @@ -194,42 +158,33 @@ RowLayout {
width: parent.width * (_showCharts ? 0.4 : 1)
Column {
QGCLabel { text: qsTr("Tuning Axis:") }
RowLayout {
spacing: _margins
QGCLabel { text: qsTr("Tuning Axis:") }
Repeater {
model: tuneList
model: axis
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
onClicked: _currentTuneType = modelData
text: modelData.name
checked: index == _currentAxis
onClicked: _currentAxis = index
}
}
}
}
QGCLabel { text: qsTr("Tuning Values:") }
// Instantiate all sliders (instead of switching the model), so that
// values are not changed unexpectedly if they do not match with a tick
// value
FactSliderPanel {
width: parent.width
visible: _currentTuneType === tuneList[_tuneListRollIndex]
sliderModel: params[_tuneListRollIndex]
}
FactSliderPanel {
width: parent.width
visible: _currentTuneType === tuneList[_tuneListPitchIndex]
sliderModel: params[_tuneListPitchIndex]
}
FactSliderPanel {
width: parent.width
visible: _currentTuneType === tuneList[_tuneListYawIndex]
sliderModel: params[_tuneListYawIndex]
Repeater {
model: axis
FactSliderPanel {
width: parent.width
visible: _currentAxis === index
sliderModel: axis[index].params
}
}
Column {
@ -242,7 +197,7 @@ RowLayout { @@ -242,7 +197,7 @@ RowLayout {
columnSpacing: _margins
Repeater {
model: params[tuneList.indexOf(_currentTuneType)]
model: axis[_currentAxis].params
QGCLabel { text: param }
}
@ -276,28 +231,13 @@ RowLayout { @@ -276,28 +231,13 @@ RowLayout {
visible: _showCharts
ChartView {
id: ratesChart
id: chart
anchors.left: parent.left
anchors.right: parent.right
height: availableHeight * 0.75
title: _currentTuneType + qsTr(" Rate")
antialiasing: true
legend.alignment: Qt.AlignBottom
LineSeries {
id: valueRateSeries
name: "Response"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
LineSeries {
id: valueRateSetpointSeries
name: "Setpoint"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
// enable mouse dragging
MouseArea {
property var _startPoint: undefined
@ -305,8 +245,8 @@ RowLayout { @@ -305,8 +245,8 @@ RowLayout {
anchors.fill: parent
onPressed: {
_startPoint = Qt.point(mouse.x, mouse.y)
var start = ratesChart.mapToValue(_startPoint)
var next = ratesChart.mapToValue(Qt.point(mouse.x+1, mouse.y+1))
var start = chart.mapToValue(_startPoint)
var next = chart.mapToValue(Qt.point(mouse.x+1, mouse.y+1))
_scaling = next.x - start.x
}
onPositionChanged: {
@ -315,8 +255,8 @@ RowLayout { @@ -315,8 +255,8 @@ RowLayout {
var cp = Qt.point(mouse.x, mouse.y)
var dx = (cp.x - _startPoint.x) * _scaling
_startPoint = cp
_valueRateXAxis.max -= dx
_valueRateXAxis.min -= dx
_xAxis.max -= dx
_xAxis.min -= dx
}
}

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