From a1ab4e897f71fb3c8c2c57e4bd047b6cc74282b3 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Fri, 6 Apr 2018 09:52:27 -0700
Subject: [PATCH] PID tuning fixes

---
 src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml | 10 +++++++---
 src/Vehicle/Vehicle.cc                                |  6 +++---
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
index 695abb303..d3d878228 100644
--- a/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
+++ b/src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
@@ -123,6 +123,7 @@ SetupPage {
                     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
@@ -267,7 +268,7 @@ SetupPage {
                         min:        0
                         max:        10
                         titleText:  "deg"
-                        tickCount:  ((max - min) / _tickSeparation) + 1
+                        tickCount:  Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
                     }
 
                     ValueAxis {
@@ -275,12 +276,12 @@ SetupPage {
                         min:        0
                         max:        10
                         titleText:  "deg/s"
-                        tickCount:  ((max - min) / _tickSeparation) + 1
+                        tickCount:  Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1
                     }
 
                     Timer {
                         id:         dataTimer
-                        interval:   50
+                        interval:   10
                         running:    false
                         repeat:     true
 
@@ -308,6 +309,8 @@ SetupPage {
                             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)
@@ -316,6 +319,7 @@ SetupPage {
                                 valueXAxis.min = valueSeries.at(0).x
                                 valueRateXAxis.min = valueSeries.at(0).x
                             }
+                            */
                         }
 
                         property var _activeVehicle:    QGroundControl.multiVehicleManager.activeVehicle
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index fbbb2890a..0b0ac8eec 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -788,9 +788,9 @@ void Vehicle::_handleAttitudeTarget(mavlink_message_t& message)
     float roll, pitch, yaw;
     mavlink_quaternion_to_euler(attitudeTarget.q, &roll, &pitch, &yaw);
 
-    _setpointFactGroup.roll()->setRawValue(roll);
-    _setpointFactGroup.pitch()->setRawValue(pitch);
-    _setpointFactGroup.yaw()->setRawValue(yaw);
+    _setpointFactGroup.roll()->setRawValue(qRadiansToDegrees(roll));
+    _setpointFactGroup.pitch()->setRawValue(qRadiansToDegrees(pitch));
+    _setpointFactGroup.yaw()->setRawValue(qRadiansToDegrees(yaw));
 
     _setpointFactGroup.rollRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_roll_rate));
     _setpointFactGroup.pitchRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_pitch_rate));
-- 
2.22.0