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Commit 8f0e0a2a authored by DonLakeFlyer's avatar DonLakeFlyer
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Generic PID tuning support

parent 65ebabe4
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Showing with 501 additions and 453 deletions
qgroundcontrol.qrc
View file @ 8f0e0a2a
......@@ -86,6 +86,7 @@
<file alias="QGroundControl/Controls/PageView.qml">src/QmlControls/PageView.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/PIDTuning.qml">src/QmlControls/PIDTuning.qml</file>
<file alias="QGroundControl/Controls/PlanToolBar.qml">src/PlanView/PlanToolBar.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCCheckListItem.qml">src/QmlControls/QGCCheckListItem.qml</file>
......
src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
View file @ 8f0e0a2a
......@@ -93,47 +93,11 @@ SetupPage {
Component {
id: advancePageComponent
// Advanced page
RowLayout {
PIDTuning {
anchors.left: parent.left
anchors.right: parent.right
layoutDirection: Qt.RightToLeft
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
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
readonly property var _tuneList: [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
readonly property var _params: [
tuneList: [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
params: [
[ controller.getParameterFact(-1, "MC_ROLL_P"),
controller.getParameterFact(-1, "MC_ROLLRATE_P"),
controller.getParameterFact(-1, "MC_ROLLRATE_I"),
......@@ -150,376 +114,7 @@ SetupPage {
controller.getParameterFact(-1, "MC_YAWRATE_D"),
controller.getParameterFact(-1, "MC_YAW_FF"),
controller.getParameterFact(-1, "MC_YAWRATE_FF") ] ]
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: {
saveTuningParamValues()
}
on_CurrentTuneTypeChanged: {
saveTuningParamValues()
resetGraphs()
}
ExclusiveGroup {
id: tuneTypeRadios
}
ValueAxis {
id: valueXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
ValueAxis {
id: valueRateXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
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: {
var seconds = _msecs / 1000
_valueXAxis.max = seconds
_valueRateXAxis.max = seconds
getValues()
valueSeries.append(seconds, _value)
adjustYAxisMin(_valueYAxis, _value)
adjustYAxisMax(_valueYAxis, _value)
valueSetpointSeries.append(seconds, _valueSetpoint)
adjustYAxisMin(_valueYAxis, _valueSetpoint)
adjustYAxisMax(_valueYAxis, _valueSetpoint)
valueRateSeries.append(seconds, _valueRate)
adjustYAxisMin(_valueRateYAxis, _valueRate)
adjustYAxisMax(_valueRateYAxis, _valueRate)
valueRateSetpointSeries.append(seconds, _valueRateSetpoint)
adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint)
adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint)
_msecs += interval
/*
Testing with just start/stop for now. No time limit.
if (valueSeries.count > _maxPointCount) {
valueSeries.remove(0)
valueSetpointSeries.remove(0)
valueRateSeries.remove(0)
valueRateSetpointSeries.remove(0)
valueXAxis.min = valueSeries.at(0).x
valueRateXAxis.min = valueSeries.at(0).x
}
*/
}
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property int _maxPointCount: 10000 / interval
}
Column {
spacing: _margins
Layout.alignment: Qt.AlignTop
QGCLabel { text: qsTr("Tuning Axis:") }
RowLayout {
spacing: _margins
Repeater {
model: _tuneList
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
exclusiveGroup: tuneTypeRadios
onClicked: _currentTuneType = modelData
}
}
}
Item { width: 1; height: 1 }
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
modelData.value -= value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value
}
}
}
Repeater {
model: parent.factList
FactTextField {
Layout.fillWidth: true
fact: modelData
showUnits: false
}
}
Repeater {
model: parent.factList
QGCButton {
text: "+"
onClicked: {
var value = modelData.value
modelData.value += value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value
}
}
}
}
RowLayout {
QGCLabel { text: qsTr("Increment/Decrement %") }
QGCComboBox {
id: adjustPercentCombo
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 }
}
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Saved Tuning Values:") }
GridLayout {
rows: savedRepeater.model.length
flow: GridLayout.TopToBottom
rowSpacing: _margins
columnSpacing: _margins
Repeater {
model: _params[_tuneList.indexOf(_currentTuneType)]
QGCLabel { text: modelData.name }
}
Repeater {
id: savedRepeater
QGCLabel { text: modelData }
}
}
RowLayout {
spacing: _margins
QGCButton {
text: qsTr("Save Values")
onClicked: saveTuningParamValues()
}
QGCButton {
text: qsTr("Reset To Saved Values")
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
}
}
}
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 - Advanced Page
} // Component - Advanced Page
} // Column
} // Component - pageComponent
......
src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml
View file @ 8f0e0a2a
......@@ -7,11 +7,16 @@
*
****************************************************************************/
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
SetupPage {
id: tuningPage
......@@ -20,29 +25,25 @@ SetupPage {
Component {
id: pageComponent
FactSliderPanel {
Column {
width: availableWidth
qgcViewPanel: tuningPage.viewPanel
sliderModel: ListModel {
ListElement {
title: qsTr("Roll sensitivity")
description: qsTr("Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
param: "FW_R_TC"
min: 0.2
max: 0.8
step: 0.01
Component.onCompleted: {
showAdvanced = !ScreenTools.isMobile
}
ListElement {
title: qsTr("Pitch sensitivity")
description: qsTr("Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy.")
param: "FW_P_TC"
min: 0.2
max: 0.8
step: 0.01
FactPanelController {
id: controller
factPanel: tuningPage.viewPanel
}
// Standard tuning page
FactSliderPanel {
width: availableWidth
qgcViewPanel: tuningPage.viewPanel
visible: !advanced
sliderModel: ListModel {
ListElement {
title: qsTr("Cruise throttle")
description: qsTr("This is the throttle setting required to achieve the desired cruise speed. Most planes need 50-60%.")
......@@ -51,16 +52,37 @@ SetupPage {
max: 80
step: 1
}
ListElement {
title: qsTr("Mission mode sensitivity")
description: qsTr("Slide to the left to make position control more accurate and more aggressive. Slide to the right to make flight in mission mode smoother and less twitchy.")
param: "FW_L1_PERIOD"
min: 12
max: 50
step: 0.5
}
}
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, "FW_RR_P"),
controller.getParameterFact(-1, "FW_RR_I"),
controller.getParameterFact(-1, "FW_RR_FF"),
controller.getParameterFact(-1, "FW_R_TC"),],
[ controller.getParameterFact(-1, "FW_PR_P"),
controller.getParameterFact(-1, "FW_PR_I"),
controller.getParameterFact(-1, "FW_PR_FF"),
controller.getParameterFact(-1, "FW_P_TC") ],
[ controller.getParameterFact(-1, "FW_YR_P"),
controller.getParameterFact(-1, "FW_YR_I"),
controller.getParameterFact(-1, "FW_YR_FF") ] ]
}
}
} // Component - Advanced Page
} // Column
} // Component - pageComponent
} // SetupPage
src/QmlControls/PIDTuning.qml 0 → 100644
View file @ 8f0e0a2a
/****************************************************************************
*
* (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
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: {
saveTuningParamValues()
}
on_CurrentTuneTypeChanged: {
saveTuningParamValues()
resetGraphs()
}
ExclusiveGroup {
id: tuneTypeRadios
}
ValueAxis {
id: valueXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
ValueAxis {
id: valueRateXAxis
min: 0
max: 0
labelFormat: "%d"
titleText: "sec"
}
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: {
var seconds = _msecs / 1000
_valueXAxis.max = seconds
_valueRateXAxis.max = seconds
getValues()
valueSeries.append(seconds, _value)
adjustYAxisMin(_valueYAxis, _value)
adjustYAxisMax(_valueYAxis, _value)
valueSetpointSeries.append(seconds, _valueSetpoint)
adjustYAxisMin(_valueYAxis, _valueSetpoint)
adjustYAxisMax(_valueYAxis, _valueSetpoint)
valueRateSeries.append(seconds, _valueRate)
adjustYAxisMin(_valueRateYAxis, _valueRate)
adjustYAxisMax(_valueRateYAxis, _valueRate)
valueRateSetpointSeries.append(seconds, _valueRateSetpoint)
adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint)
adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint)
_msecs += interval
/*
Testing with just start/stop for now. No time limit.
if (valueSeries.count > _maxPointCount) {
valueSeries.remove(0)
valueSetpointSeries.remove(0)
valueRateSeries.remove(0)
valueRateSetpointSeries.remove(0)
valueXAxis.min = valueSeries.at(0).x
valueRateXAxis.min = valueSeries.at(0).x
}
*/
}
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property int _maxPointCount: 10000 / interval
}
Column {
spacing: _margins
Layout.alignment: Qt.AlignTop
QGCLabel { text: qsTr("Tuning Axis:") }
RowLayout {
spacing: _margins
Repeater {
model: tuneList
QGCRadioButton {
text: modelData
checked: _currentTuneType === modelData
exclusiveGroup: tuneTypeRadios
onClicked: _currentTuneType = modelData
}
}
}
Item { width: 1; height: 1 }
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
modelData.value -= value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value
}
}
}
Repeater {
model: parent.factList
FactTextField {
Layout.fillWidth: true
fact: modelData
showUnits: false
}
}
Repeater {
model: parent.factList
QGCButton {
text: "+"
onClicked: {
var value = modelData.value
modelData.value += value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value
}
}
}
}
RowLayout {
QGCLabel { text: qsTr("Increment/Decrement %") }
QGCComboBox {
id: adjustPercentCombo
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 }
}
}
}
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Saved Tuning Values:") }
GridLayout {
rows: savedRepeater.model.length
flow: GridLayout.TopToBottom
rowSpacing: _margins
columnSpacing: _margins
Repeater {
model: params[tuneList.indexOf(_currentTuneType)]
QGCLabel { text: modelData.name }
}
Repeater {
id: savedRepeater
QGCLabel { text: modelData }
}
}
RowLayout {
spacing: _margins
QGCButton {
text: qsTr("Save Values")
onClicked: saveTuningParamValues()
}
QGCButton {
text: qsTr("Reset To Saved Values")
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
}
}
}
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
src/QmlControls/QGroundControl.Controls.qmldir
View file @ 8f0e0a2a
......@@ -32,6 +32,7 @@ OfflineMapButton 1.0 OfflineMapButton.qml
PageView 1.0 PageView.qml
ParameterEditor 1.0 ParameterEditor.qml
ParameterEditorDialog 1.0 ParameterEditorDialog.qml
PIDTuning 1.0 PIDTuning.qml
PlanToolBar 1.0 PlanToolBar.qml
QGCButton 1.0 QGCButton.qml
QGCCheckListItem 1.0 QGCCheckListItem.qml
......
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