diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
index 42c2e3a..6bc0f1e 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
@@ -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
diff --git a/src/QmlControls/PIDTuning.qml b/src/QmlControls/PIDTuning.qml
index 01b689b..b861d91 100644
--- a/src/QmlControls/PIDTuning.qml
+++ b/src/QmlControls/PIDTuning.qml
@@ -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 {
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 {
}
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 {
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 {
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 {
columnSpacing: _margins
Repeater {
- model: params[tuneList.indexOf(_currentTuneType)]
+ model: axis[_currentAxis].params
QGCLabel { text: param }
}
@@ -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 {
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 {
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
}
}