zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

PX4: add PIDTuning UI for fixed wing vehicles (#10384) 

This commit adds a pid tuning UI for fixed wing vehicles for attitude and rate controllers
QGC4.4
JaeyoungLim 3 years ago committed by GitHub
parent
bafd59242e
commit
d868f8a583
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 253 additions and 3 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
  2. 8
      src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneAll.qml
  3. 71
      src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneAttitude.qml
  4. 173
      src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneRate.qml
  5. 2
      src/FirmwarePlugin/PX4/PX4Resources.qrc

2
src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
Unescape View File

@ -54,7 +54,7 @@ QUrl PX4TuningComponent::setupSource(void) const @@ -54,7 +54,7 @@ QUrl PX4TuningComponent::setupSource(void) const
switch (_vehicle->vehicleType()) {
case MAV_TYPE_FIXED_WING:
qmlFile = ""; // TODO: "qrc:/qml/PX4TuningComponentPlane.qml";
qmlFile = "qrc:/qml/PX4TuningComponentPlane.qml";
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_COAXIAL:

8
src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneAll.qml
Unescape View File

@ -28,12 +28,16 @@ Item { @@ -28,12 +28,16 @@ Item {
width: parent.width
anchors.top: parent.top
QGCTabButton {
text: qsTr("TECS")
text: qsTr("Rate Controller")
}
QGCTabButton {
text: qsTr("Attitude Controller")
}
}
property var pages: [
"PX4TuningComponentPlaneTECS.qml",
"PX4TuningComponentPlaneRate.qml",
"PX4TuningComponentPlaneAttitude.qml",
]
Loader {

71
src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneAttitude.qml
Unescape View File

@ -0,0 +1,71 @@ @@ -0,0 +1,71 @@
/****************************************************************************
*
* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
ColumnLayout {
width: availableWidth
anchors.fill: parent
property alias autotuningEnabled: pidTuning.autotuningEnabled
PIDTuning {
width: availableWidth
id: pidTuning
property var roll: QtObject {
property string name: qsTr("Roll")
property var plot: [
{ name: "Response", value: globals.activeVehicle.roll.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.roll.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Time constant (FW_R_TC)")
description: qsTr("The latency between a roll step input and the achieved setpoint (inverse to a P gain)")
param: "FW_R_TC"
min: 0.4
max: 1.0
step: 0.05
}
}
}
property var pitch: QtObject {
property string name: qsTr("Pitch")
property var plot: [
{ name: "Response", value: globals.activeVehicle.pitch.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.pitch.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Time Constant (FW_P_TC)")
description: qsTr("The latency between a pitch step input and the achieved setpoint (inverse to a P gain)")
param: "FW_P_TC"
min: 0.2
max: 1.0
step: 0.05
}
}
}
title: "Attitude"
tuningMode: Vehicle.ModeRateAndAttitude
unit: "deg"
axis: [ roll, pitch ]
showAutoModeChange: true
showAutoTuning: true
}
}

173
src/AutoPilotPlugins/PX4/PX4TuningComponentPlaneRate.qml
Unescape View File

@ -0,0 +1,173 @@ @@ -0,0 +1,173 @@
/****************************************************************************
*
* (c) 2021 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
ColumnLayout {
width: availableWidth
anchors.fill: parent
property alias autotuningEnabled: pidTuning.autotuningEnabled
GridLayout {
columns: 2
}
PIDTuning {
width: availableWidth
id: pidTuning
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("Porportional gain (FW_RR_P)")
description: qsTr("Porportional gain.")
param: "FW_RR_P"
min: 0.0
max: 1
step: 0.005
}
ListElement {
title: qsTr("Differential Gain (FW_RR_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "FW_RR_D"
min: 0.0
max: 1.0
step: 0.005
}
ListElement {
title: qsTr("Integral Gain (FW_RR_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "FW_RR_I"
min: 0.0
max: 0.5
step: 0.005
}
ListElement {
title: qsTr("Feedforward Gain (FW_RR_FF)")
description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
param: "FW_RR_FF"
min: 0.0
max: 10.0
step: 0.05
}
}
}
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("Porportional Gain (FW_PR_P)")
description: qsTr("Porportional Gain.")
param: "FW_PR_P"
min: 0.0
max: 1
step: 0.005
}
ListElement {
title: qsTr("Differential Gain (FW_PR_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "FW_PR_D"
min: 0.0
max: 1.00
step: 0.005
}
ListElement {
title: qsTr("Integral Gain (FW_PR_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "FW_PR_I"
min: 0.0
max: 0.5
step: 0.005
}
ListElement {
title: qsTr("Feedforward Gain (FW_PR_FF)")
description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
param: "FW_PR_FF"
min: 0.0
max: 10.0
step: 0.05
}
}
}
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("Porportional Gain (FW_YR_P)")
description: qsTr("Porportional Gain.")
param: "FW_YR_P"
min: 0.0
max: 1
step: 0.005
}
ListElement {
title: qsTr("Integral Gain (FW_YR_D)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "FW_YR_D"
min: 0.0
max: 1.0
step: 0.005
}
ListElement {
title: qsTr("Integral Gain (FW_YR_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "FW_YR_I"
min: 0.0
max: 50.0
step: 0.5
}
ListElement {
title: qsTr("Feedforward Gain (FW_YR_FF)")
description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
param: "FW_YR_FF"
min: 0.0
max: 10.0
step: 0.05
}
ListElement {
title: qsTr("Roll control to yaw feedforward (FW_RLL_TO_YAW_FF)")
description: qsTr("Used to counteract the adverse yaw effect for fixed wings.")
param: "FW_RLL_TO_YAW_FF"
min: 0.0
max: 1.0
step: 0.01
}
}
}
title: "Rate"
tuningMode: Vehicle.ModeRateAndAttitude
unit: "deg/s"
axis: [ roll, pitch, yaw ]
chartDisplaySec: 3
showAutoModeChange: true
showAutoTuning: true
}
}

2
src/FirmwarePlugin/PX4/PX4Resources.qrc
Unescape View File

@ -19,6 +19,8 @@ @@ -19,6 +19,8 @@
<file alias="PX4TuningComponentCopterPosition.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentCopterPosition.qml</file>
<file alias="PX4TuningComponentPlane.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml</file>
<file alias="PX4TuningComponentPlaneAll.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlaneAll.qml</file>
<file alias="PX4TuningComponentPlaneAttitude.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlaneAttitude.qml</file>
<file alias="PX4TuningComponentPlaneRate.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlaneRate.qml</file>
<file alias="PX4TuningComponentPlaneTECS.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentPlaneTECS.qml</file>
<file alias="PX4TuningComponentVTOL.qml">../../AutoPilotPlugins/PX4/PX4TuningComponentVTOL.qml</file>
<file alias="SafetyComponent.qml">../../AutoPilotPlugins/PX4/SafetyComponent.qml</file>

Write Preview
Loading…
Cancel
Save