QGroundControl
Ground Control Station for MAVLink Drones
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PX4TuningComponentPlaneRate.qml
Go to the documentation of this file.
1import QtQuick
2import QtQuick.Controls
3import QtQuick.Layouts
4
5import QGroundControl
6import QGroundControl.Controls
7import QGroundControl.FactControls
8
9ColumnLayout {
10 property real _availableHeight: availableHeight
11 property real _availableWidth: availableWidth
12
13 PIDTuning {
14 id: pidTuning
15 availableWidth: _availableWidth
16 availableHeight: _availableHeight - pidTuning.y
17
18 property var roll: QtObject {
19 property string name: qsTr("Roll")
20 property var plot: [
21 { name: "Response", value: globals.activeVehicle.rollRate.value },
22 { name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value }
23 ]
24 property var params: ListModel {
25 ListElement {
26 title: qsTr("Porportional gain (FW_RR_P)")
27 description: qsTr("Porportional gain.")
28 param: "FW_RR_P"
29 min: 0.0
30 max: 1
31 step: 0.005
32 }
33 ListElement {
34 title: qsTr("Differential Gain (FW_RR_D)")
35 description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
36 param: "FW_RR_D"
37 min: 0.0
38 max: 1.0
39 step: 0.005
40 }
41 ListElement {
42 title: qsTr("Integral Gain (FW_RR_I)")
43 description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
44 param: "FW_RR_I"
45 min: 0.0
46 max: 0.5
47 step: 0.005
48 }
49 ListElement {
50 title: qsTr("Feedforward Gain (FW_RR_FF)")
51 description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
52 param: "FW_RR_FF"
53 min: 0.0
54 max: 10.0
55 step: 0.05
56 }
57 }
58 }
59 property var pitch: QtObject {
60 property string name: qsTr("Pitch")
61 property var plot: [
62 { name: "Response", value: globals.activeVehicle.pitchRate.value },
63 { name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value }
64 ]
65 property var params: ListModel {
66 ListElement {
67 title: qsTr("Porportional Gain (FW_PR_P)")
68 description: qsTr("Porportional Gain.")
69 param: "FW_PR_P"
70 min: 0.0
71 max: 1
72 step: 0.005
73 }
74 ListElement {
75 title: qsTr("Differential Gain (FW_PR_D)")
76 description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
77 param: "FW_PR_D"
78 min: 0.0
79 max: 1.00
80 step: 0.005
81 }
82 ListElement {
83 title: qsTr("Integral Gain (FW_PR_I)")
84 description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
85 param: "FW_PR_I"
86 min: 0.0
87 max: 0.5
88 step: 0.005
89 }
90 ListElement {
91 title: qsTr("Feedforward Gain (FW_PR_FF)")
92 description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
93 param: "FW_PR_FF"
94 min: 0.0
95 max: 10.0
96 step: 0.05
97 }
98 }
99 }
100 property var yaw: QtObject {
101 property string name: qsTr("Yaw")
102 property var plot: [
103 { name: "Response", value: globals.activeVehicle.yawRate.value },
104 { name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value }
105 ]
106 property var params: ListModel {
107 ListElement {
108 title: qsTr("Porportional Gain (FW_YR_P)")
109 description: qsTr("Porportional Gain.")
110 param: "FW_YR_P"
111 min: 0.0
112 max: 1
113 step: 0.005
114 }
115 ListElement {
116 title: qsTr("Integral Gain (FW_YR_D)")
117 description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
118 param: "FW_YR_D"
119 min: 0.0
120 max: 1.0
121 step: 0.005
122 }
123 ListElement {
124 title: qsTr("Integral Gain (FW_YR_I)")
125 description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
126 param: "FW_YR_I"
127 min: 0.0
128 max: 50.0
129 step: 0.5
130 }
131 ListElement {
132 title: qsTr("Feedforward Gain (FW_YR_FF)")
133 description: qsTr("Feedforward gused to compensate for aerodynamic damping.")
134 param: "FW_YR_FF"
135 min: 0.0
136 max: 10.0
137 step: 0.05
138 }
139 ListElement {
140 title: qsTr("Roll control to yaw feedforward (FW_RLL_TO_YAW_FF)")
141 description: qsTr("Used to counteract the adverse yaw effect for fixed wings.")
142 param: "FW_RLL_TO_YAW_FF"
143 min: 0.0
144 max: 1.0
145 step: 0.01
146 }
147 }
148 }
149 title: "Rate"
150 tuningMode: Vehicle.ModeRateAndAttitude
151 unit: "deg/s"
152 axis: [ roll, pitch, yaw ]
153 chartDisplaySec: 3
154 showAutoModeChange: true
155 showAutoTuning: true
156 }
157}