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ArduCopter PID tuning support

QGC4.4
DonLakeFlyer 6 years ago
parent
64eebbef96
commit
707b16d8e8
3 changed files with 292 additions and 313 deletions
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  1. 1
      ChangeLog.md
  2. 598
      src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
  3. 6
      src/QmlControls/PIDTuning.qml

1
ChangeLog.md
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@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes. @@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* ArduCopter: Add PID Tuning page to Tuning Setup
* ArduPilot: Copter - Advanced Tuning support
* ArduPilot: Rover - Frame setup support
* ArduPilot: Copter - Update support to 3.5+

598
src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
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@ -26,16 +26,13 @@ SetupPage { @@ -26,16 +26,13 @@ SetupPage {
id: tuningPageComponent
Column {
width: availableWidth
spacing: _margins
width: availableWidth
FactPanelController { id: controller; factPanel: tuningPage.viewPanel }
QGCPalette { id: palette; colorGroupEnabled: true }
property bool _rcFeelAvailable: controller.parameterExists(-1, "RC_FEEL")
property bool _atcInputTCAvailable: controller.parameterExists(-1, "ATC_INPUT_TC")
property Fact _rcFeel: controller.getParameterFact(-1, "RC_FEEL", false)
property Fact _atcInputTC: controller.getParameterFact(-1, "ATC_INPUT_TC", false)
property Fact _rateRollP: controller.getParameterFact(-1, "ATC_RAT_RLL_P")
property Fact _rateRollI: controller.getParameterFact(-1, "ATC_RAT_RLL_I")
@ -69,6 +66,7 @@ SetupPage { @@ -69,6 +66,7 @@ SetupPage {
ExclusiveGroup { id: returnAltRadioGroup }
Component.onCompleted: {
showAdvanced = !ScreenTools.isMobile
// Qml Sliders have a strange behavior in which they first set Slider::value to some internal
// setting and then set Slider::value to the bound properties value. If you have an onValueChanged
// handler which updates your property with the new value, this first value change will trash
@ -76,9 +74,6 @@ SetupPage { @@ -76,9 +74,6 @@ SetupPage {
// after Qml load is done. We also don't track value changes until Qml load completes.
rollPitch.value = _rateRollP.value
climb.value = _rateClimbP.value
if (_rcFeelAvailable) {
rcFeel.value = _rcFeel.value
}
if (_atcInputTCAvailable) {
atcInputTC.value = _atcInputTC.value
}
@ -124,382 +119,365 @@ SetupPage { @@ -124,382 +119,365 @@ SetupPage {
Connections { target: _ch11Opt; onValueChanged: calcAutoTuneChannel() }
Connections { target: _ch12Opt; onValueChanged: calcAutoTuneChannel() }
QGCLabel {
text: qsTr("Basic Tuning")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
id: basicTuningRect
Column {
anchors.left: parent.left
anchors.right: parent.right
height: basicTuningColumn.y + basicTuningColumn.height + _margins
color: palette.windowShade
spacing: _margins
visible: !advanced
QGCLabel {
text: qsTr("Basic Tuning")
font.family: ScreenTools.demiboldFontFamily
}
Column {
id: basicTuningColumn
anchors.margins: _margins
Rectangle {
id: basicTuningRect
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins
height: basicTuningColumn.y + basicTuningColumn.height + _margins
color: palette.windowShade
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("Roll/Pitch Sensitivity")
font.family: ScreenTools.demiboldFontFamily
}
id: basicTuningColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins
QGCLabel {
text: qsTr("Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy")
}
Slider {
id: rollPitch
Column {
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.08
maximumValue: 0.4
stepSize: 0.01
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_rateRollP.value = value
_rateRollI.value = value
_ratePitchP.value = value
_ratePitchI.value = value
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("Climb Sensitivity")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Roll/Pitch Sensitivity")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Slide to the right to climb more aggressively or slide to the left to climb more gently")
}
QGCLabel {
text: qsTr("Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy")
}
Slider {
id: climb
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.3
maximumValue: 1.0
stepSize: 0.02
tickmarksEnabled: true
value: _rateClimbP.value
onValueChanged: {
if (_loadComplete) {
_rateClimbP.value = value
_rateClimbI.value = value * 2
Slider {
id: rollPitch
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.08
maximumValue: 0.4
stepSize: 0.01
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_rateRollP.value = value
_rateRollI.value = value
_ratePitchP.value = value
_ratePitchI.value = value
}
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
visible: _rcFeelAvailable
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("RC Roll/Pitch Feel")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Climb Sensitivity")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
}
QGCLabel {
text: qsTr("Slide to the right to climb more aggressively or slide to the left to climb more gently")
}
Slider {
id: rcFeel
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: 100
stepSize: 5.0
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_rcFeel.value = value
Slider {
id: climb
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0.3
maximumValue: 1.0
stepSize: 0.02
tickmarksEnabled: true
value: _rateClimbP.value
onValueChanged: {
if (_loadComplete) {
_rateClimbP.value = value
_rateClimbI.value = value * 2
}
}
}
}
}
Column {
anchors.left: parent.left
anchors.right: parent.right
visible: _atcInputTCAvailable
Column {
anchors.left: parent.left
anchors.right: parent.right
visible: _atcInputTCAvailable
QGCLabel {
text: qsTr("RC Roll/Pitch Feel")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("RC Roll/Pitch Feel")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
}
QGCLabel {
text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
}
Slider {
id: atcInputTC
anchors.left: parent.left
anchors.right: parent.right
minimumValue: _atcInputTC.min
maximumValue: _atcInputTC.max
stepSize: _atcInputTC.increment
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_atcInputTC.value = value
Slider {
id: atcInputTC
anchors.left: parent.left
anchors.right: parent.right
minimumValue: _atcInputTC.min
maximumValue: _atcInputTC.max
stepSize: _atcInputTC.increment
tickmarksEnabled: true
onValueChanged: {
if (_loadComplete) {
_atcInputTC.value = value
}
}
}
}
}
}
} // Rectangle - Basic tuning
QGCLabel {
text: qsTr("Advanced Tuning")
font.family: ScreenTools.demiboldFontFamily
}
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: advColumnLayout.y + advColumnLayout.height + _margins
color: palette.windowShade
ColumnLayout {
id: advColumnLayout
anchors.margins: _margins
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margins
Column {
Layout.fillWidth: true
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("Spin While Armed")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Spin While Armed")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Adjust the amount the motors spin to indicate armed")
}
QGCLabel {
text: qsTr("Adjust the amount the motors spin to indicate armed")
}
Slider {
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: Math.max(0.3, _motSpinArm.rawValue)
stepSize: 0.01
tickmarksEnabled: true
value: _motSpinArm.rawValue
onValueChanged: {
if (_loadComplete) {
_motSpinArm.rawValue = value
Slider {
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: Math.max(0.3, _motSpinArm.rawValue)
stepSize: 0.01
tickmarksEnabled: true
value: _motSpinArm.rawValue
onValueChanged: {
if (_loadComplete) {
_motSpinArm.rawValue = value
}
}
}
}
}
Column {
id: lastAdvTuningColumn
Layout.fillWidth: true
Column {
anchors.left: parent.left
anchors.right: parent.right
QGCLabel {
text: qsTr("Minimum Thrust")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Minimum Thrust")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel {
text: qsTr("Adjust the minimum amount of thrust for a stable minimum throttle descent")
}
QGCLabel {
text: qsTr("Adjust the minimum amount of thrust require for the vehicle to move")
}
QGCLabel {
text: qsTr("Warning: This setting should be higher than 'Spin While Armed'")
color: palette.warningText
visible: _motSpinMin.rawValue < _motSpinArm.rawValue
}
QGCLabel {
text: qsTr("Warning: This setting should be higher than 'Spin While Armed'")
color: palette.warningText
visible: _motSpinMin.rawValue < _motSpinArm.rawValue
}
Slider {
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: Math.max(0.3, _motSpinMin.rawValue)
stepSize: 0.01
tickmarksEnabled: true
value: _motSpinMin.rawValue
onValueChanged: {
if (_loadComplete) {
_motSpinMin.rawValue = value
Slider {
anchors.left: parent.left
anchors.right: parent.right
minimumValue: 0
maximumValue: Math.max(0.3, _motSpinMin.rawValue)
stepSize: 0.01
tickmarksEnabled: true
value: _motSpinMin.rawValue
onValueChanged: {
if (_loadComplete) {
_motSpinMin.rawValue = value
}
}
}
}
}
}
} // Rectangle - Advanced tuning
Flow {
id: flowLayout
anchors.left: parent.left
anchors.right: parent.right
spacing: _margins
} // Rectangle - Basic tuning
Rectangle {
height: autoTuneLabel.height + autoTuneRect.height
width: autoTuneRect.width
color: palette.window
QGCLabel {
id: autoTuneLabel
text: qsTr("AutoTune")
font.family: ScreenTools.demiboldFontFamily
}
Flow {
id: flowLayout
Layout.fillWidth: true
spacing: _margins
Rectangle {
id: autoTuneRect
width: autoTuneColumn.x + autoTuneColumn.width + _margins
height: autoTuneColumn.y + autoTuneColumn.height + _margins
anchors.top: autoTuneLabel.bottom
color: palette.windowShade
height: autoTuneLabel.height + autoTuneRect.height
width: autoTuneRect.width
color: palette.window
Column {
id: autoTuneColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
spacing: _margins
Row {
spacing: _margins
QGCLabel {
id: autoTuneLabel
text: qsTr("AutoTune")
font.family: ScreenTools.demiboldFontFamily
}
QGCLabel { text: qsTr("Axes to AutoTune:") }
FactBitmask { fact: _autoTuneAxes }
}
Rectangle {
id: autoTuneRect
width: autoTuneColumn.x + autoTuneColumn.width + _margins
height: autoTuneColumn.y + autoTuneColumn.height + _margins
anchors.top: autoTuneLabel.bottom
color: palette.windowShade
Column {
id: autoTuneColumn
anchors.margins: _margins
anchors.left: parent.left
anchors.top: parent.top
spacing: _margins
Row {
spacing: _margins
QGCLabel { text: qsTr("Axes to AutoTune:") }
FactBitmask { fact: _autoTuneAxes }
}
Row {
spacing: _margins
Row {
spacing: _margins
QGCLabel {
anchors.baseline: autoTuneChannelCombo.baseline
text: qsTr("Channel for AutoTune switch:")
}
QGCLabel {
anchors.baseline: autoTuneChannelCombo.baseline
text: qsTr("Channel for AutoTune switch:")
}
QGCComboBox {
id: autoTuneChannelCombo
width: ScreenTools.defaultFontPixelWidth * 14
model: [qsTr("None"), qsTr("Channel 7"), qsTr("Channel 8"), qsTr("Channel 9"), qsTr("Channel 10"), qsTr("Channel 11"), qsTr("Channel 12") ]
currentIndex: _autoTuneSwitchChannelIndex
QGCComboBox {
id: autoTuneChannelCombo
width: ScreenTools.defaultFontPixelWidth * 14
model: [qsTr("None"), qsTr("Channel 7"), qsTr("Channel 8"), qsTr("Channel 9"), qsTr("Channel 10"), qsTr("Channel 11"), qsTr("Channel 12") ]
currentIndex: _autoTuneSwitchChannelIndex
onActivated: {
var channel = index
onActivated: {
var channel = index
if (channel > 0) {
channel += 6
if (channel > 0) {
channel += 6
}
setChannelAutoTuneOption(channel)
}
setChannelAutoTuneOption(channel)
}
}
}
}
} // Rectangle - AutoTune
} // Rectangle - AutoTuneWrap
Rectangle {
height: inFlightTuneLabel.height + channel6TuningOption.height
width: channel6TuningOption.width
color: palette.window
QGCLabel {
id: inFlightTuneLabel
text: qsTr("In Flight Tuning")
font.family: ScreenTools.demiboldFontFamily
}
} // Rectangle - AutoTune
} // Rectangle - AutoTuneWrap
Rectangle {
id: channel6TuningOption
width: channel6TuningOptColumn.width + (_margins * 2)
height: channel6TuningOptColumn.height + ScreenTools.defaultFontPixelHeight
anchors.top: inFlightTuneLabel.bottom
color: qgcPal.windowShade
height: inFlightTuneLabel.height + channel6TuningOption.height
width: channel6TuningOption.width
color: palette.window
Column {
id: channel6TuningOptColumn
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
id: inFlightTuneLabel
text: qsTr("In Flight Tuning")
font.family: ScreenTools.demiboldFontFamily
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
Rectangle {
id: channel6TuningOption
width: channel6TuningOptColumn.width + (_margins * 2)
height: channel6TuningOptColumn.height + ScreenTools.defaultFontPixelHeight
anchors.top: inFlightTuneLabel.bottom
color: qgcPal.windowShade
Column {
id: channel6TuningOptColumn
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.left: parent.left
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelHeight
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
QGCLabel {
anchors.baseline: optCombo.baseline
text: qsTr("RC Channel 6 Option (Tuning):")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
QGCLabel {
anchors.baseline: optCombo.baseline
text: qsTr("RC Channel 6 Option (Tuning):")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
FactComboBox {
id: optCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.getParameterFact(-1, "TUNE")
indexModel: false
}
}
FactComboBox {
id: optCombo
width: ScreenTools.defaultFontPixelWidth * 15
fact: controller.getParameterFact(-1, "TUNE")
indexModel: false
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
Row {
spacing: ScreenTools.defaultFontPixelWidth
property Fact nullFact: Fact { }
QGCLabel {
anchors.baseline: tuneMinField.baseline
text: qsTr("Min:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
QGCLabel {
anchors.baseline: tuneMinField.baseline
text: qsTr("Min:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
FactTextField {
id: tuneMinField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_LOW")
}
FactTextField {
id: tuneMinField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_LOW")
}
QGCLabel {
anchors.baseline: tuneMaxField.baseline
text: qsTr("Max:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
}
QGCLabel {
anchors.baseline: tuneMaxField.baseline
text: qsTr("Max:")
//color: controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
FactTextField {
id: tuneMaxField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_HIGH")
}
}
} // Column - Channel 6 Tuning option
} // Rectangle - Channel 6 Tuning options
} // Rectangle - Channel 6 Tuning options wrap
} // Flow - Tune
}
FactTextField {
id: tuneMaxField
validator: DoubleValidator {bottom: 0; top: 32767;}
fact: controller.getParameterFact(-1, "TUNE_HIGH")
}
}
} // Column - Channel 6 Tuning option
} // Rectangle - Channel 6 Tuning options
} // Rectangle - Channel 6 Tuning options wrap
} // Flow - Tune
Loader {
anchors.left: parent.left
anchors.right: parent.right
sourceComponent: advanced ? advancePageComponent : undefined
}
Component {
id: advancePageComponent
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") ] ]
}
} // Component - Advanced Page
} // Column
} // Component
} // SetupView

6
src/QmlControls/PIDTuning.qml
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@ -323,7 +323,7 @@ RowLayout { @@ -323,7 +323,7 @@ RowLayout {
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Saved Tuning Values:") }
QGCLabel { text: qsTr("Clipboard Values:") }
GridLayout {
rows: savedRepeater.model.length
@ -348,12 +348,12 @@ RowLayout { @@ -348,12 +348,12 @@ RowLayout {
spacing: _margins
QGCButton {
text: qsTr("Save Values")
text: qsTr("Save To Clipboard")
onClicked: saveTuningParamValues()
}
QGCButton {
text: qsTr("Reset To Saved Values")
text: qsTr("Restore From Clipboard")
onClicked: resetToSavedTuningParamValues()
}
}

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