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Valentin Platzgummer
qgroundcontrol
Commits
a1ab4e89
Commit
a1ab4e89
authored
Apr 06, 2018
by
DonLakeFlyer
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PID tuning fixes
parent
9b7cfd25
Changes
2
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2 changed files
with
10 additions
and
6 deletions
+10
-6
PX4TuningComponentCopter.qml
src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
+7
-3
Vehicle.cc
src/Vehicle/Vehicle.cc
+3
-3
No files found.
src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml
View file @
a1ab4e89
...
@@ -123,6 +123,7 @@ SetupPage {
...
@@ -123,6 +123,7 @@ SetupPage {
property
real
_valueRateSetpoint
property
real
_valueRateSetpoint
readonly
property
int
_tickSeparation
:
5
readonly
property
int
_tickSeparation
:
5
readonly
property
int
_maxTickSections
:
10
readonly
property
int
_tuneListRollIndex
:
0
readonly
property
int
_tuneListRollIndex
:
0
readonly
property
int
_tuneListPitchIndex
:
1
readonly
property
int
_tuneListPitchIndex
:
1
readonly
property
int
_tuneListYawIndex
:
2
readonly
property
int
_tuneListYawIndex
:
2
...
@@ -267,7 +268,7 @@ SetupPage {
...
@@ -267,7 +268,7 @@ SetupPage {
min
:
0
min
:
0
max
:
10
max
:
10
titleText
:
"
deg
"
titleText
:
"
deg
"
tickCount
:
((
max
-
min
)
/
_tickSeparation
)
+
1
tickCount
:
Math
.
min
(((
max
-
min
)
/
_tickSeparation
),
_maxTickSections
)
+
1
}
}
ValueAxis
{
ValueAxis
{
...
@@ -275,12 +276,12 @@ SetupPage {
...
@@ -275,12 +276,12 @@ SetupPage {
min
:
0
min
:
0
max
:
10
max
:
10
titleText
:
"
deg/s
"
titleText
:
"
deg/s
"
tickCount
:
((
max
-
min
)
/
_tickSeparation
)
+
1
tickCount
:
Math
.
min
(((
max
-
min
)
/
_tickSeparation
),
_maxTickSections
)
+
1
}
}
Timer
{
Timer
{
id
:
dataTimer
id
:
dataTimer
interval
:
5
0
interval
:
1
0
running
:
false
running
:
false
repeat
:
true
repeat
:
true
...
@@ -308,6 +309,8 @@ SetupPage {
...
@@ -308,6 +309,8 @@ SetupPage {
adjustYAxisMax
(
_valueRateYAxis
,
_valueRateSetpoint
)
adjustYAxisMax
(
_valueRateYAxis
,
_valueRateSetpoint
)
_msecs
+=
interval
_msecs
+=
interval
/*
Testing with just start/stop for now. No time limit.
if (valueSeries.count > _maxPointCount) {
if (valueSeries.count > _maxPointCount) {
valueSeries.remove(0)
valueSeries.remove(0)
valueSetpointSeries.remove(0)
valueSetpointSeries.remove(0)
...
@@ -316,6 +319,7 @@ SetupPage {
...
@@ -316,6 +319,7 @@ SetupPage {
valueXAxis.min = valueSeries.at(0).x
valueXAxis.min = valueSeries.at(0).x
valueRateXAxis.min = valueSeries.at(0).x
valueRateXAxis.min = valueSeries.at(0).x
}
}
*/
}
}
property
var
_activeVehicle
:
QGroundControl
.
multiVehicleManager
.
activeVehicle
property
var
_activeVehicle
:
QGroundControl
.
multiVehicleManager
.
activeVehicle
...
...
src/Vehicle/Vehicle.cc
View file @
a1ab4e89
...
@@ -788,9 +788,9 @@ void Vehicle::_handleAttitudeTarget(mavlink_message_t& message)
...
@@ -788,9 +788,9 @@ void Vehicle::_handleAttitudeTarget(mavlink_message_t& message)
float
roll
,
pitch
,
yaw
;
float
roll
,
pitch
,
yaw
;
mavlink_quaternion_to_euler
(
attitudeTarget
.
q
,
&
roll
,
&
pitch
,
&
yaw
);
mavlink_quaternion_to_euler
(
attitudeTarget
.
q
,
&
roll
,
&
pitch
,
&
yaw
);
_setpointFactGroup
.
roll
()
->
setRawValue
(
roll
);
_setpointFactGroup
.
roll
()
->
setRawValue
(
qRadiansToDegrees
(
roll
)
);
_setpointFactGroup
.
pitch
()
->
setRawValue
(
pitch
);
_setpointFactGroup
.
pitch
()
->
setRawValue
(
qRadiansToDegrees
(
pitch
)
);
_setpointFactGroup
.
yaw
()
->
setRawValue
(
yaw
);
_setpointFactGroup
.
yaw
()
->
setRawValue
(
qRadiansToDegrees
(
yaw
)
);
_setpointFactGroup
.
rollRate
()
->
setRawValue
(
qRadiansToDegrees
(
attitudeTarget
.
body_roll_rate
));
_setpointFactGroup
.
rollRate
()
->
setRawValue
(
qRadiansToDegrees
(
attitudeTarget
.
body_roll_rate
));
_setpointFactGroup
.
pitchRate
()
->
setRawValue
(
qRadiansToDegrees
(
attitudeTarget
.
body_pitch_rate
));
_setpointFactGroup
.
pitchRate
()
->
setRawValue
(
qRadiansToDegrees
(
attitudeTarget
.
body_pitch_rate
));
...
...
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