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APMTuningComponentCopter: fix use of PIDTuning

QGC4.4
Beat Küng 3 years ago committed by Don Gagne
parent
c05428b273
commit
68b9137104
1 changed files with 124 additions and 13 deletions
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  1. 137
      src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

137
src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
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@ -17,6 +17,7 @@ import QGroundControl.FactControls 1.0 @@ -17,6 +17,7 @@ import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
SetupPage {
id: tuningPage
@ -27,6 +28,7 @@ SetupPage { @@ -27,6 +28,7 @@ SetupPage {
Column {
width: availableWidth
height: availableHeight
FactPanelController { id: controller; }
@ -459,19 +461,128 @@ SetupPage { @@ -459,19 +461,128 @@ SetupPage {
PIDTuning {
anchors.left: parent.left
anchors.right: parent.right
tuneList: [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
params: [
[ controller.getParameterFact(-1, "ATC_ANG_RLL_P"),
controller.getParameterFact(-1, "ATC_RAT_RLL_P"),
controller.getParameterFact(-1, "ATC_RAT_RLL_I"),
controller.getParameterFact(-1, "ATC_RAT_RLL_D") ],
[ controller.getParameterFact(-1, "ATC_ANG_PIT_P"),
controller.getParameterFact(-1, "ATC_RAT_PIT_P"),
controller.getParameterFact(-1, "ATC_RAT_PIT_I"),
controller.getParameterFact(-1, "ATC_RAT_PIT_D") ],
[ controller.getParameterFact(-1, "ATC_ANG_YAW_P"),
controller.getParameterFact(-1, "ATC_RAT_YAW_P"),
controller.getParameterFact(-1, "ATC_RAT_YAW_I") ] ]
height: availableHeight
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("Roll axis angle controller P gain")
param: "ATC_ANG_RLL_P"
description: ""
min: 3
max: 12
step: 1
}
ListElement {
title: qsTr("Roll axis rate controller P gain")
param: "ATC_RAT_RLL_P"
description: ""
min: 0.001
max: 0.5
step: 0.025
}
ListElement {
title: qsTr("Roll axis rate controller I gain")
param: "ATC_RAT_RLL_I"
description: ""
min: 0.01
max: 2
step: 0.05
}
ListElement {
title: qsTr("Roll axis rate controller D gain")
param: "ATC_RAT_RLL_D"
description: ""
min: 0.0
max: 0.05
step: 0.001
}
}
}
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("Pitch axis angle controller P gain")
param: "ATC_ANG_PIT_P"
description: ""
min: 3
max: 12
step: 1
}
ListElement {
title: qsTr("Pitch axis rate controller P gain")
param: "ATC_RAT_PIT_P"
description: ""
min: 0.001
max: 0.5
step: 0.025
}
ListElement {
title: qsTr("Pitch axis rate controller I gain")
param: "ATC_RAT_PIT_I"
description: ""
min: 0.01
max: 2
step: 0.05
}
ListElement {
title: qsTr("Pitch axis rate controller D gain")
param: "ATC_RAT_PIT_D"
description: ""
min: 0.0
max: 0.05
step: 0.001
}
}
}
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("Yaw axis angle controller P gain")
param: "ATC_ANG_YAW_P"
description: ""
min: 3
max: 12
step: 1
}
ListElement {
title: qsTr("Yaw axis rate controller P gain")
param: "ATC_RAT_YAW_P"
description: ""
min: 0.1
max: 2.5
step: 0.05
}
ListElement {
title: qsTr("Yaw axis rate controller I gain")
param: "ATC_RAT_YAW_I"
description: ""
min: 0.01
max: 1
step: 0.05
}
}
}
title: "Rate"
tuningMode: Vehicle.ModeDisabled
unit: "deg/s"
axis: [ roll, pitch, yaw ]
chartDisplaySec: 3
}
} // Component - Advanced Page
} // Column

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