Beat Küng
4 years ago
committed by
Lorenz Meier
9 changed files with 307 additions and 113 deletions
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/**************************************************************************** |
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* |
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* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Vehicle 1.0 |
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PIDTuning { |
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width: availableWidth |
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property var roll: QtObject { |
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property string name: qsTr("Roll") |
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property var plot: [ |
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{ name: "Response", value: globals.activeVehicle.rollRate.value }, |
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{ name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value } |
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] |
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property var params: ListModel { |
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ListElement { |
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title: qsTr("Overall Multiplier (MC_ROLLRATE_K)") |
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description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).") |
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param: "MC_ROLLRATE_K" |
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min: 0.3 |
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max: 3 |
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step: 0.05 |
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} |
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ListElement { |
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title: qsTr("Differential Gain (MC_ROLLRATE_D)") |
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description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.") |
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param: "MC_ROLLRATE_D" |
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min: 0.0004 |
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max: 0.01 |
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step: 0.0002 |
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} |
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ListElement { |
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title: qsTr("Integral Gain (MC_ROLLRATE_I)") |
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description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.") |
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param: "MC_ROLLRATE_I" |
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min: 0.1 |
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max: 0.5 |
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step: 0.025 |
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} |
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} |
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} |
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property var pitch: QtObject { |
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property string name: qsTr("Pitch") |
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property var plot: [ |
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{ name: "Response", value: globals.activeVehicle.pitchRate.value }, |
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{ name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value } |
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] |
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property var params: ListModel { |
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ListElement { |
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title: qsTr("Overall Multiplier (MC_PITCHRATE_K)") |
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description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).") |
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param: "MC_PITCHRATE_K" |
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min: 0.3 |
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max: 3 |
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step: 0.05 |
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} |
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ListElement { |
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title: qsTr("Differential Gain (MC_PITCHRATE_D)") |
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description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.") |
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param: "MC_PITCHRATE_D" |
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min: 0.0004 |
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max: 0.01 |
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step: 0.0002 |
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} |
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ListElement { |
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title: qsTr("Integral Gain (MC_PITCHRATE_I)") |
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description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.") |
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param: "MC_PITCHRATE_I" |
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min: 0.1 |
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max: 0.5 |
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step: 0.025 |
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} |
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} |
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} |
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property var yaw: QtObject { |
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property string name: qsTr("Yaw") |
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property var plot: [ |
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{ name: "Response", value: globals.activeVehicle.yawRate.value }, |
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{ name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value } |
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] |
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property var params: ListModel { |
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ListElement { |
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title: qsTr("Overall Multiplier (MC_YAWRATE_K)") |
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description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).") |
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param: "MC_YAWRATE_K" |
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min: 0.3 |
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max: 3 |
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step: 0.05 |
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} |
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ListElement { |
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title: qsTr("Integral Gain (MC_YAWRATE_I)") |
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description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.") |
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param: "MC_YAWRATE_I" |
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min: 0.04 |
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max: 0.4 |
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step: 0.02 |
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} |
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} |
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} |
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anchors.left: parent.left |
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anchors.right: parent.right |
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title: "Rate" |
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tuningMode: Vehicle.ModeRateAndAttitude |
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unit: "deg/s" |
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axis: [ roll, pitch, yaw ] |
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chartDisplaySec: 3 |
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} |
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@@ -0,0 +1,99 @@
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/**************************************************************************** |
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* |
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* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Vehicle 1.0 |
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PIDTuning { |
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width: availableWidth |
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property var horizontal: QtObject { |
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property string name: qsTr("Horizontal") |
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property string plotTitle: qsTr("Horizontal (Y direction, sidewards)") |
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property var plot: [ |
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{ name: "Response", value: globals.activeVehicle.localPosition.vy.value }, |
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{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vy.value } |
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] |
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property var params: ListModel { |
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ListElement { |
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title: qsTr("Proportional gain (MPC_XY_VEL_P_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_XY_VEL_P_ACC" |
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min: 1.2 |
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max: 5 |
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step: 0.05 |
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} |
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ListElement { |
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title: qsTr("Integral gain (MPC_XY_VEL_I_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_XY_VEL_I_ACC" |
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min: 0.2 |
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max: 10 |
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step: 0.2 |
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} |
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ListElement { |
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title: qsTr("Differential gain (MPC_XY_VEL_D_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_XY_VEL_D_ACC" |
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min: 0.1 |
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max: 2 |
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step: 0.05 |
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} |
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} |
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} |
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property var vertical: QtObject { |
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property string name: qsTr("Vertical") |
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property var plot: [ |
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{ name: "Response", value: globals.activeVehicle.localPosition.vz.value }, |
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{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vz.value } |
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] |
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property var params: ListModel { |
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ListElement { |
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title: qsTr("Proportional gain (MPC_Z_VEL_P_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_Z_VEL_P_ACC" |
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min: 2 |
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max: 15 |
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step: 0.5 |
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} |
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ListElement { |
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title: qsTr("Integral gain (MPC_Z_VEL_I_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_Z_VEL_I_ACC" |
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min: 0.2 |
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max: 3 |
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step: 0.05 |
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} |
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ListElement { |
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title: qsTr("Differential gain (MPC_Z_VEL_D_ACC)") |
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description: qsTr("TODO") |
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param: "MPC_Z_VEL_D_ACC" |
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min: 0 |
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max: 2 |
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step: 0.05 |
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} |
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} |
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} |
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anchors.left: parent.left |
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anchors.right: parent.right |
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title: "Velocity" |
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tuningMode: Vehicle.ModeVelocityAndPosition |
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unit: "m/s" |
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axis: [ horizontal, vertical ] |
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} |
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