ArduCopter PID tuning support

ChangeLog.md

@@ -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+

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -27,15 +27,12 @@ SetupPage {
 
         Column {
             width: availableWidth
-            spacing:    _margins
 
             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 {
             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 {
                 // 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
                 }
@@ -124,6 +119,12 @@ SetupPage {
             Connections { target: _ch11Opt; onValueChanged: calcAutoTuneChannel() }
             Connections { target: _ch12Opt; onValueChanged: calcAutoTuneChannel() }
 
+            Column {
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                spacing:            _margins
+                visible:            !advanced
+
                 QGCLabel {
                     text:       qsTr("Basic Tuning")
                     font.family: ScreenTools.demiboldFontFamily
@@ -212,37 +213,6 @@ SetupPage {
                         Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                        visible:        _rcFeelAvailable
-
-                        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")
-                        }
-
-                        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
-                                }
-                            }
-                        }
-                    }
-
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
                             visible:            _atcInputTCAvailable
 
                             QGCLabel {
@@ -270,30 +240,10 @@ SetupPage {
                                 }
                             }
                         }
-                }
-            } // 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
+                        Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                    anchors.top:        parent.top
-                    spacing:            _margins
-
-                    Column {
-                        Layout.fillWidth: true
 
                             QGCLabel {
                                 text:       qsTr("Spin While Armed")
@@ -322,8 +272,8 @@ SetupPage {
                         }
 
                         Column {
-                        id:                 lastAdvTuningColumn
-                        Layout.fillWidth:   true
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
 
                             QGCLabel {
                                 text:       qsTr("Minimum Thrust")
@@ -331,7 +281,7 @@ SetupPage {
                             }
 
                             QGCLabel {
-                            text: qsTr("Adjust the minimum amount of thrust for a stable minimum throttle descent")
+                                text: qsTr("Adjust the minimum amount of thrust require for the vehicle to move")
                             }
 
                             QGCLabel {
@@ -357,12 +307,11 @@ SetupPage {
                             }
                         }
                     }
-            } // Rectangle - Advanced tuning
+                } // Rectangle - Basic tuning
 
                 Flow {
                     id:                 flowLayout
-                anchors.left:   parent.left
-                anchors.right:  parent.right
+                    Layout.fillWidth:   true
                     spacing:            _margins
 
                     Rectangle {
@@ -500,6 +449,35 @@ SetupPage {
                         } // 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

src/QmlControls/PIDTuning.qml

@@ -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 {
             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()
             }
         }