Newer
Older
/****************************************************************************
*
* (c) 2009-2016 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 QtCharts 2.2
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
RowLayout {
layoutDirection: Qt.RightToLeft
property var tuneList
property var params
property real _chartHeight: ScreenTools.defaultFontPixelHeight * 20
property real _margins: ScreenTools.defaultFontPixelHeight / 2
property string _currentTuneType: tuneList[0]
property real _roll: activeVehicle.roll.value
property real _rollSetpoint: activeVehicle.setpoint.roll.value
property real _rollRate: activeVehicle.rollRate.value
property real _rollRateSetpoint: activeVehicle.setpoint.rollRate.value
property real _pitch: activeVehicle.pitch.value
property real _pitchSetpoint: activeVehicle.setpoint.pitch.value
property real _pitchRate: activeVehicle.pitchRate.value
property real _pitchRateSetpoint: activeVehicle.setpoint.pitchRate.value
property real _yaw: activeVehicle.heading.value
property real _yawSetpoint: activeVehicle.setpoint.yaw.value
property real _yawRate: activeVehicle.yawRate.value
property real _yawRateSetpoint: activeVehicle.setpoint.yawRate.value
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
property var _valueXAxis: valueXAxis
property var _valueRateXAxis: valueRateXAxis
property var _valueYAxis: valueYAxis
property var _valueRateYAxis: valueRateYAxis
property int _msecs: 0
property var _savedTuningParamValues: [ ]
// The following are set when getValues is called
property real _value
property real _valueSetpoint
property real _valueRate
property real _valueRateSetpoint
readonly property int _tickSeparation: 5
readonly property int _maxTickSections: 10
readonly property int _tuneListRollIndex: 0
readonly property int _tuneListPitchIndex: 1
readonly property int _tuneListYawIndex: 2
function adjustYAxisMin(yAxis, newValue) {
var newMin = Math.min(yAxis.min, newValue)
if (newMin % 5 != 0) {
newMin -= 5
newMin = Math.floor(newMin / _tickSeparation) * _tickSeparation
}
yAxis.min = newMin
}
function adjustYAxisMax(yAxis, newValue) {
var newMax = Math.max(yAxis.max, newValue)
if (newMax % 5 != 0) {
newMax += 5
newMax = Math.floor(newMax / _tickSeparation) * _tickSeparation
}
yAxis.max = newMax
}
function getValues() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
_value = _roll
_valueSetpoint = _rollSetpoint
_valueRate = _rollRate
_valueRateSetpoint = _rollRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
_value = _pitch
_valueSetpoint = _pitchSetpoint
_valueRate = _pitchRate
_valueRateSetpoint = _pitchRateSetpoint
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
_value = _yaw
_valueSetpoint = _yawSetpoint
_valueRate = _yawRate
_valueRateSetpoint = _yawRateSetpoint
}
}
function resetGraphs() {
valueSeries.removePoints(0, valueSeries.count)
valueSetpointSeries.removePoints(0, valueSetpointSeries.count)
valueRateSeries.removePoints(0, valueRateSeries.count)
valueRateSetpointSeries.removePoints(0, valueRateSetpointSeries.count)
_valueXAxis.min = 0
_valueXAxis.max = 0
_valueRateXAxis.min = 0
_valueRateXAxis.max = 0
_valueYAxis.min = 0
_valueYAxis.max = 10
_valueRateYAxis.min = 0
_valueRateYAxis.max = 10
_msecs = 0
}
function currentTuneTypeIndex() {
if (_currentTuneType === tuneList[_tuneListRollIndex]) {
return _tuneListRollIndex
} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) {
return _tuneListPitchIndex
} else if (_currentTuneType === tuneList[_tuneListYawIndex]) {
return _tuneListYawIndex
}
}
// Save the current set of tuning values so we can reset to them
function saveTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
_savedTuningParamValues = [ ]
var currentTuneParams = params[tuneTypeIndex]
for (var i=0; i<currentTuneParams.length; i++) {
_savedTuningParamValues.push(currentTuneParams[i].valueString)
}
savedRepeater.model = _savedTuningParamValues
}
function resetToSavedTuningParamValues() {
var tuneTypeIndex = currentTuneTypeIndex()
for (var i=0; i<_savedTuningParamValues.length; i++) {
params[tuneTypeIndex][i].value = _savedTuningParamValues[i]
}
}
Component.onCompleted: {
activeVehicle.setPIDTuningTelemetryMode(true)
Component.onDestruction: activeVehicle.setPIDTuningTelemetryMode(false)
on_CurrentTuneTypeChanged: {
saveTuningParamValues()
resetGraphs()
}
ValueAxis {
id: valueXAxis
min: 0
max: 0
labelFormat: "%d"
}
ValueAxis {
id: valueRateXAxis
min: 0
max: 0
labelFormat: "%d"
}
ValueAxis {
id: valueYAxis
min: 0
max: 10
titleText: "deg"
tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
}
ValueAxis {
id: valueRateYAxis
min: 0
max: 10
titleText: "deg/s"
tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
}
Timer {
id: dataTimer
interval: 10
running: false
repeat: true
onTriggered: {
adjustYAxisMin(_valueYAxis, _value)
adjustYAxisMax(_valueYAxis, _value)
adjustYAxisMin(_valueYAxis, _valueSetpoint)
adjustYAxisMax(_valueYAxis, _valueSetpoint)
adjustYAxisMin(_valueRateYAxis, _valueRate)
adjustYAxisMax(_valueRateYAxis, _valueRate)
adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint)
adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint)
_msecs += interval
}
property int _maxPointCount: 10000 / interval
}
Column {
spacing: _margins
Layout.alignment: Qt.AlignTop
Repeater {
model: tuneList
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
onClicked: _currentTuneType = modelData
}
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
}
}
}
QGCLabel { text: qsTr("Tuning Values:") }
GridLayout {
rows: factList.length
flow: GridLayout.TopToBottom
rowSpacing: _margins
columnSpacing: _margins
property var factList: params[tuneList.indexOf(_currentTuneType)]
Repeater {
model: parent.factList
QGCLabel { text: modelData.name }
}
Repeater {
model: parent.factList
QGCButton {
text: "-"
onClicked: {
var value = modelData.value
var newValue = value - (value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value)
if (newValue >= modelData.min) {
modelData.value = newValue
}
}
}
}
Repeater {
model: parent.factList
FactTextField {
Layout.fillWidth: true
fact: modelData
showUnits: false
}
}
Repeater {
model: parent.factList
QGCButton {
text: "+"
onClicked: {
var value = modelData.value
var newValue = value + (value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value)
if (newValue <= modelData.max) {
modelData.value = newValue
}
}
}
}
}
RowLayout {
QGCLabel { text: qsTr("Increment/Decrement %") }
QGCComboBox {
model: ListModel {
id: adjustPercentModel
ListElement { text: "5"; value: 0.05 }
ListElement { text: "10"; value: 0.10 }
ListElement { text: "15"; value: 0.15 }
ListElement { text: "20"; value: 0.20 }
}
}
}
GridLayout {
rows: savedRepeater.model.length
flow: GridLayout.TopToBottom
rowSpacing: 0
columnSpacing: _margins
}
}
RowLayout {
spacing: _margins
QGCButton {
onClicked: saveTuningParamValues()
}
QGCButton {
onClicked: resetToSavedTuningParamValues()
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Chart:") }
RowLayout {
spacing: _margins
QGCButton {
text: qsTr("Clear")
onClicked: resetGraphs()
}
QGCButton {
text: dataTimer.running ? qsTr("Stop") : qsTr("Start")
onClicked: {
dataTimer.running = !dataTimer.running
if (autoModeChange.checked) {
activeVehicle.flightMode = dataTimer.running ? "Stabilized" : activeVehicle.pauseFlightMode
}
}
}
}
QGCCheckBox {
id: autoModeChange
text: qsTr("Automatic Flight Mode Switching")
}
Column {
visible: autoModeChange.checked
QGCLabel {
text: qsTr("Switches to 'Stabilized' when you click Start.")
font.pointSize: ScreenTools.smallFontPointSize
}
QGCLabel {
text: qsTr("Switches to '%1' when you click Stop.").arg(activeVehicle.pauseFlightMode)
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
}
}
}
Column {
Layout.fillWidth: true
ChartView {
anchors.left: parent.left
anchors.right: parent.right
height: availableHeight / 2
title: _currentTuneType
antialiasing: true
legend.alignment: Qt.AlignRight
LineSeries {
id: valueSeries
name: "Response"
axisY: valueYAxis
axisX: valueXAxis
}
LineSeries {
id: valueSetpointSeries
name: "Command"
axisY: valueYAxis
axisX: valueXAxis
}
}
ChartView {
anchors.left: parent.left
anchors.right: parent.right
height: availableHeight / 2
title: _currentTuneType + qsTr(" Rate")
antialiasing: true
legend.alignment: Qt.AlignRight
LineSeries {
id: valueRateSeries
name: "Response"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
LineSeries {
id: valueRateSetpointSeries
name: "Command"
axisY: valueRateYAxis
axisX: valueRateXAxis
}
}
}
} // RowLayout