PX4TuningComponentCopterVelocity.qml

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import QtQuick
import QtQuick.Controls
import QtQuick.Layouts
 
import QGroundControl
import QGroundControl.Controls
import QGroundControl.FactControls
 
ColumnLayout {
    property real _availableHeight: availableHeight
    property real _availableWidth:  availableWidth
    property Fact _mcPosMode:       controller.getParameterFact(-1, "MPC_POS_MODE", false)
 
    GridLayout {
        columns: 2
 
        QGCLabel {
            text:               qsTr("Position control mode (set this to 'simple' during tuning):")
            visible:            _mcPosMode
        }
        FactComboBox {
            fact:               _mcPosMode
            indexModel:         false
            visible:            _mcPosMode
        }
    }
 
    PIDTuning {
        id:                 pidTuning
        availableWidth:     _availableWidth
        availableHeight:    _availableHeight - pidTuning.y
 
        property var horizontal: QtObject {
            property string name: qsTr("Horizontal")
            property string plotTitle: qsTr("Horizontal (Y direction, sidewards)")
            property var plot: [
                { name: "Response", value: globals.activeVehicle.localPosition.vy.value },
                { name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vy.value }
            ]
            property var params: ListModel {
                ListElement {
                    title:          qsTr("Proportional gain (MPC_XY_VEL_P_ACC)")
                    description:    qsTr("Increase for more responsiveness, reduce if the velocity overshoots (and increasing D does not help).")
                    param:          "MPC_XY_VEL_P_ACC"
                    min:            1.2
                    max:            5
                    step:           0.05
                }
                ListElement {
                    title:          qsTr("Integral gain (MPC_XY_VEL_I_ACC)")
                    description:    qsTr("Increase to reduce steady-state error (e.g. wind)")
                    param:          "MPC_XY_VEL_I_ACC"
                    min:            0.2
                    max:            10
                    step:           0.2
                }
                ListElement {
                    title:          qsTr("Differential gain (MPC_XY_VEL_D_ACC)")
                    description:    qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
                    param:          "MPC_XY_VEL_D_ACC"
                    min:            0.1
                    max:            2
                    step:           0.05
                }
            }
        }
        property var vertical: QtObject {
            property string name: qsTr("Vertical")
            property var plot: [
                { name: "Response", value: globals.activeVehicle.localPosition.vz.value },
                { name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vz.value }
            ]
            property var params: ListModel {
                ListElement {
                    title:          qsTr("Proportional gain (MPC_Z_VEL_P_ACC)")
                    description:    qsTr("Increase for more responsiveness, reduce if the velocity overshoots (and increasing D does not help).")
                    param:          "MPC_Z_VEL_P_ACC"
                    min:            2
                    max:            15
                    step:           0.5
                }
                ListElement {
                    title:          qsTr("Integral gain (MPC_Z_VEL_I_ACC)")
                    description:    qsTr("Increase to reduce steady-state error")
                    param:          "MPC_Z_VEL_I_ACC"
                    min:            0.2
                    max:            3
                    step:           0.05
                }
                ListElement {
                    title:          qsTr("Differential gain (MPC_Z_VEL_D_ACC)")
                    description:    qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
                    param:          "MPC_Z_VEL_D_ACC"
                    min:            0
                    max:            2
                    step:           0.05
                }
            }
        }
        title: "Velocity"
        tuningMode: Vehicle.ModeVelocityAndPosition
        unit: "m/s"
        axis: [ horizontal, vertical ]
    }
}