@ -7,11 +7,16 @@
@@ -7,11 +7,16 @@
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * /
import QtQuick 2.3
import QtQuick . Controls 1.2
import QtCharts 2.2
import QtQuick . Layouts 1.2
import QtQuick 2.3
import QtQuick . Controls 1.2
import QGroundControl . Controls 1.0
import QGroundControl 1.0
import QGroundControl . Controls 1.0
import QGroundControl . FactSystem 1.0
import QGroundControl . FactControls 1.0
import QGroundControl . ScreenTools 1.0
SetupPage {
id: tuningPage
@ -20,47 +25,486 @@ SetupPage {
@@ -20,47 +25,486 @@ SetupPage {
Component {
id: pageComponent
FactSliderPanel {
width: availableWidth
qgcViewPanel: tuningPage . viewPanel
sliderModel: ListModel {
ListElement {
title: qsTr ( "Hover Throttle" )
description: qsTr ( "Adjust throttle so hover is at mid-throttle. Slide to the left if hover is lower than throttle center. Slide to the right if hover is higher than throttle center." )
param: "MPC_THR_HOVER"
min: 20
max: 80
step: 1
Column {
width: availableWidth
property real _chartHeight : ScreenTools . defaultFontPixelHeight * 20
property real _margins : ScreenTools . defaultFontPixelHeight / 2
property string _currentTuneType : _tuneList [ 0 ]
property real _roll : _activeVehicle . roll . value
property real _rollSetpoint : _activeVehicle . setpoint . roll . value
property real _rollRate : _activeVehicle . rollRate . value
property real _rollRateSetpoint : _activeVehicle . setpoint . rollRate . value
property real _pitch : _activeVehicle . pitch . value
property real _pitchSetpoint : _activeVehicle . setpoint . pitch . value
property real _pitchRate : _activeVehicle . pitchRate . value
property real _pitchRateSetpoint : _activeVehicle . setpoint . pitchRate . value
property real _yaw : _activeVehicle . heading . value
property real _yawSetpoint : _activeVehicle . setpoint . yaw . value
property real _yawRate : _activeVehicle . yawRate . value
property real _yawRateSetpoint : _activeVehicle . setpoint . yawRate . value
property var _valueXAxis : valueXAxis
property var _valueRateXAxis : valueRateXAxis
property var _valueYAxis : valueYAxis
property var _valueRateYAxis : valueRateYAxis
property int _msecs : 0
property var _savedTuningParamValues : [ ]
/ / T h e f o l l o w i n g a r e s e t w h e n g e t V a l u e s i s c a l l e d
property real _value
property real _valueSetpoint
property real _valueRate
property real _valueRateSetpoint
readonly property int _tickSeparation : 5
readonly property int _tuneListRollIndex : 0
readonly property int _tuneListPitchIndex : 1
readonly property int _tuneListYawIndex : 2
readonly property var _tuneList : [ qsTr ( "Roll" ) , qsTr ( "Pitch" ) , qsTr ( "Yaw" ) ]
readonly property var _params : [
[ controller . getParameterFact ( - 1 , "MC_ROLL_P" ) ,
controller . getParameterFact ( - 1 , "MC_ROLLRATE_P" ) ,
controller . getParameterFact ( - 1 , "MC_ROLLRATE_I" ) ,
controller . getParameterFact ( - 1 , "MC_ROLLRATE_D" ) ,
controller . getParameterFact ( - 1 , "MC_ROLLRATE_FF" ) ] ,
[ controller . getParameterFact ( - 1 , "MC_PITCH_P" ) ,
controller . getParameterFact ( - 1 , "MC_PITCHRATE_P" ) ,
controller . getParameterFact ( - 1 , "MC_PITCHRATE_I" ) ,
controller . getParameterFact ( - 1 , "MC_PITCHRATE_D" ) ,
controller . getParameterFact ( - 1 , "MC_PITCHRATE_FF" ) ] ,
[ controller . getParameterFact ( - 1 , "MC_YAW_P" ) ,
controller . getParameterFact ( - 1 , "MC_YAWRATE_P" ) ,
controller . getParameterFact ( - 1 , "MC_YAWRATE_I" ) ,
controller . getParameterFact ( - 1 , "MC_YAWRATE_D" ) ,
controller . getParameterFact ( - 1 , "MC_YAW_FF" ) ,
controller . getParameterFact ( - 1 , "MC_YAWRATE_FF" ) ] ]
function adjustYAxisMin ( yAxis , newValue ) {
var newMin = Math . min ( yAxis . min , newValue )
if ( newMin % 5 != 0 ) {
newMin -= 5
newMin = Math . floor ( newMin / _tickSeparation ) * _tickSeparation
}
yAxis . min = newMin
}
function adjustYAxisMax ( yAxis , newValue ) {
var newMax = Math . max ( yAxis . max , newValue )
if ( newMax % 5 != 0 ) {
newMax += 5
newMax = Math . floor ( newMax / _tickSeparation ) * _tickSeparation
}
yAxis . max = newMax
}
function getValues ( ) {
if ( _currentTuneType === _tuneList [ _tuneListRollIndex ] ) {
_value = _roll
_valueSetpoint = _rollSetpoint
_valueRate = _rollRate
_valueRateSetpoint = _rollRateSetpoint
} else if ( _currentTuneType === _tuneList [ _tuneListPitchIndex ] ) {
_value = _pitch
_valueSetpoint = _pitchSetpoint
_valueRate = _pitchRate
_valueRateSetpoint = _pitchRateSetpoint
} else if ( _currentTuneType === _tuneList [ _tuneListYawIndex ] ) {
_value = _yaw
_valueSetpoint = _yawSetpoint
_valueRate = _yawRate
_valueRateSetpoint = _yawRateSetpoint
}
}
function resetGraphs ( ) {
valueSeries . removePoints ( 0 , valueSeries . count )
valueSetpointSeries . removePoints ( 0 , valueSetpointSeries . count )
valueRateSeries . removePoints ( 0 , valueRateSeries . count )
valueRateSetpointSeries . removePoints ( 0 , valueRateSetpointSeries . count )
_valueXAxis . min = 0
_valueXAxis . max = 0
_valueRateXAxis . min = 0
_valueRateXAxis . max = 0
_valueYAxis . min = 0
_valueYAxis . max = 10
_valueRateYAxis . min = 0
_valueRateYAxis . max = 10
_msecs = 0
}
function currentTuneTypeIndex ( ) {
if ( _currentTuneType === _tuneList [ _tuneListRollIndex ] ) {
return _tuneListRollIndex
} else if ( _currentTuneType === _tuneList [ _tuneListPitchIndex ] ) {
return _tuneListPitchIndex
} else if ( _currentTuneType === _tuneList [ _tuneListYawIndex ] ) {
return _tuneListYawIndex
}
}
/ / S a v e t h e c u r r e n t s e t o f t u n i n g v a l u e s s o w e c a n r e s e t t o t h e m
function saveTuningParamValues ( ) {
var tuneTypeIndex = currentTuneTypeIndex ( )
ListElement {
title: qsTr ( "Manual minimum throttle" )
description: qsTr ( "Slide to the left to start the motors with less idle power. Slide to the right if descending in manual flight becomes unstable." )
param: "MPC_MANTHR_MIN"
min: 0
max: 15
step: 1
_savedTuningParamValues = [ ]
var currentTuneParams = _params [ tuneTypeIndex ]
for ( var i = 0 ; i < currentTuneParams . length ; i ++ ) {
_savedTuningParamValues . push ( currentTuneParams [ i ] . valueString )
}
savedRepeater . model = _savedTuningParamValues
}
function resetToSavedTuningParamValues ( ) {
var tuneTypeIndex = currentTuneTypeIndex ( )
ListElement {
title: qsTr ( "Roll sensitivity" )
description: qsTr ( "Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy." )
param: "MC_ROLL_TC"
min: 0.15
max: 0.25
step: 0.01
for ( var i = 0 ; i < _savedTuningParamValues . length ; i ++ ) {
_params [ tuneTypeIndex ] [ i ] . value = _savedTuningParamValues [ i ]
}
}
Component.onCompleted: {
showAdvanced = true
saveTuningParamValues ( )
}
on_CurrentTuneTypeChanged: {
saveTuningParamValues ( )
resetGraphs ( )
}
FactPanelController {
id: controller
factPanel: tuningPage . viewPanel
}
ExclusiveGroup {
id: tuneTypeRadios
}
ValueAxis {
id: valueXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
ValueAxis {
id: valueRateXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
ValueAxis {
id: valueYAxis
min: 0
max: 10
titleText: "deg"
tickCount: ( ( max - min ) / _tickSeparation ) + 1
}
ValueAxis {
id: valueRateYAxis
min: 0
max: 10
titleText: "deg/s"
tickCount: ( ( max - min ) / _tickSeparation ) + 1
}
Timer {
id: dataTimer
interval: 50
running: false
repeat: true
onTriggered: {
var seconds = _msecs / 1000
_valueXAxis . max = seconds
_valueRateXAxis . max = seconds
getValues ( )
valueSeries . append ( seconds , _value )
adjustYAxisMin ( _valueYAxis , _value )
adjustYAxisMax ( _valueYAxis , _value )
valueSetpointSeries . append ( seconds , _valueSetpoint )
adjustYAxisMin ( _valueYAxis , _valueSetpoint )
adjustYAxisMax ( _valueYAxis , _valueSetpoint )
valueRateSeries . append ( seconds , _valueRate )
adjustYAxisMin ( _valueRateYAxis , _valueRate )
adjustYAxisMax ( _valueRateYAxis , _valueRate )
valueRateSetpointSeries . append ( seconds , _valueRateSetpoint )
adjustYAxisMin ( _valueRateYAxis , _valueRateSetpoint )
adjustYAxisMax ( _valueRateYAxis , _valueRateSetpoint )
_msecs += interval
if ( valueSeries . count > _maxPointCount ) {
valueSeries . remove ( 0 )
valueSetpointSeries . remove ( 0 )
valueRateSeries . remove ( 0 )
valueRateSetpointSeries . remove ( 0 )
valueXAxis . min = valueSeries . at ( 0 ) . x
valueRateXAxis . min = valueSeries . at ( 0 ) . x
}
}
property var _activeVehicle : QGroundControl . multiVehicleManager . activeVehicle
property int _maxPointCount : 10000 / interval
}
/ / S t a n d a r d t u n i n g p a g e
FactSliderPanel {
width: availableWidth
qgcViewPanel: tuningPage . viewPanel
visible: ! advanced
sliderModel: ListModel {
ListElement {
title: qsTr ( "Hover Throttle" )
description: qsTr ( "Adjust throttle so hover is at mid-throttle. Slide to the left if hover is lower than throttle center. Slide to the right if hover is higher than throttle center." )
param: "MPC_THR_HOVER"
min: 20
max: 80
step: 1
}
ListElement {
title: qsTr ( "Pitch sensitivity" )
description: qsTr ( "Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy." )
param: "MC_PITCH_TC"
min: 0.15
max: 0.25
step: 0.01
ListElement {
title: qsTr ( "Manual minimum throttle" )
description: qsTr ( "Slide to the left to start the motors with less idle power. Slide to the right if descending in manual flight becomes unstable." )
param: "MPC_MANTHR_MIN"
min: 0
max: 15
step: 1
}
/ *
These seem to have disappeared from PX4 firmware !
ListElement {
title: qsTr ( "Roll sensitivity" )
description: qsTr ( "Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy." )
param: "MC_ROLL_TC"
min: 0.15
max: 0.25
step: 0.01
}
ListElement {
title: qsTr ( "Pitch sensitivity" )
description: qsTr ( "Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy." )
param: "MC_PITCH_TC"
min: 0.15
max: 0.25
step: 0.01
}
* /
}
}
}
} / / C o m p o n e n t
/ / A d v a n c e d p a g e
RowLayout {
anchors.left: parent . left
anchors.right: parent . right
layoutDirection: Qt . RightToLeft
visible: advanced
Column {
spacing: _margins
Layout.alignment: Qt . AlignTop
QGCLabel { text: qsTr ( "Tuning Axis:" ) }
RowLayout {
spacing: _margins
Repeater {
model: _tuneList
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
exclusiveGroup: tuneTypeRadios
onClicked: _currentTuneType = modelData
}
}
}
Item { width: 1 ; height: 1 }
QGCLabel { text: qsTr ( "Tuning Values:" ) }
GridLayout {
rows: factList . length
flow: GridLayout . TopToBottom
rowSpacing: _margins
columnSpacing: _margins
property var factList: _params [ _tuneList . indexOf ( _currentTuneType ) ]
Repeater {
model: parent . factList
QGCLabel { text: modelData . name }
}
Repeater {
model: parent . factList
QGCButton {
text: "-"
onClicked: {
var value = modelData . value
modelData . value -= value * adjustPercentModel . get ( adjustPercentCombo . currentIndex ) . value
}
}
}
Repeater {
model: parent . factList
FactTextField {
Layout.fillWidth: true
fact: modelData
showUnits: false
}
}
Repeater {
model: parent . factList
QGCButton {
text: "+"
onClicked: {
var value = modelData . value
modelData . value += value * adjustPercentModel . get ( adjustPercentCombo . currentIndex ) . value
}
}
}
}
RowLayout {
QGCLabel { text: qsTr ( "Increment/Decrement %" ) }
QGCComboBox {
id: adjustPercentCombo
model: ListModel {
id: adjustPercentModel
ListElement { text: "5" ; value: 0.05 }
ListElement { text: "10" ; value: 0.10 }
ListElement { text: "15" ; value: 0.15 }
ListElement { text: "20" ; value: 0.20 }
}
}
}
Item { width: 1 ; height: 1 }
QGCLabel { text: qsTr ( "Saved Tuning Values:" ) }
GridLayout {
rows: savedRepeater . model . length
flow: GridLayout . TopToBottom
rowSpacing: _margins
columnSpacing: _margins
Repeater {
model: _params [ _tuneList . indexOf ( _currentTuneType ) ]
QGCLabel { text: modelData . name }
}
Repeater {
id: savedRepeater
QGCLabel { text: modelData }
}
}
RowLayout {
spacing: _margins
QGCButton {
text: qsTr ( "Save Values" )
onClicked: saveTuningParamValues ( )
}
QGCButton {
text: qsTr ( "Reset To Saved Values" )
onClicked: resetToSavedTuningParamValues ( )
}
}
Item { width: 1 ; height: 1 }
QGCLabel { text: qsTr ( "Chart:" ) }
RowLayout {
spacing: _margins
QGCButton {
text: qsTr ( "Clear" )
onClicked: resetGraphs ( )
}
QGCButton {
text: dataTimer . running ? qsTr ( "Stop" ) : qsTr ( "Start" )
onClicked: dataTimer . running = ! dataTimer . running
}
}
}
Column {
Layout.fillWidth: true
ChartView {
anchors.left: parent . left
anchors.right: parent . right
height: availableHeight / 2
title: _currentTuneType
antialiasing: true
legend.alignment: Qt . AlignRight
LineSeries {
id: valueSeries
name: "Response"
axisY: valueYAxis
axisX: valueXAxis
}
LineSeries {
id: valueSetpointSeries
name: "Command"
axisY: valueYAxis
axisX: valueXAxis
}
}
ChartView {
anchors.left: parent . left
anchors.right: parent . right
height: availableHeight / 2
title: _currentTuneType + qsTr ( " Rate" )
antialiasing: true
legend.alignment: Qt . AlignRight
LineSeries {
id: valueRateSeries
name: "Response"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
LineSeries {
id: valueRateSetpointSeries
name: "Command"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
}
}
} / / R o w L a y o u t - A d v a n c e d P a g e
} / / C o l u m n
} / / C o m p o n e n t - p a g e C o m p o n e n t
} / / S e t u p P a g e
Don Gagne
7 years ago
committed by
GitHub