def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._current_roll_pid = PIDData(100, 150, -300)
self._current_pitch_pid = PIDData(100, 150, -300)
self._current_stick_scaling = 1
self._is_starting = False
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._roll_pid_controller)
self._roll_pid_controller.set_title('PID tuning')
self._roll_pid_controller.set_default(PIDData(100, 150, -350))
self._roll_pid_controller.set_p_bounds(50, 200)
self._roll_pid_controller.set_p_title('Pitch Gain')
self._roll_pid_controller.set_i_bounds(100, 300)
self._roll_pid_controller.set_i_title('Error correction')
self._roll_pid_controller.set_d_bounds(-1000, -100)
self._roll_pid_controller.set_d_title('Set Point')
self._pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._pitch_pid_controller)
self._pitch_pid_controller.set_title('PID tuning')
self._pitch_pid_controller.set_default(PIDData(100, 150, -350))
self._pitch_pid_controller.set_p_bounds(50, 200)
self._pitch_pid_controller.set_p_title('Pitch Gain')
self._pitch_pid_controller.set_i_bounds(100, 300)
self._pitch_pid_controller.set_i_title('Error correction')
self._pitch_pid_controller.set_d_bounds(-1000, -100)
self._pitch_pid_controller.set_d_title('Set Point')
self._stick_scaling_controller = ConfigSingleLinePanelController()
self._stick_scaling_controller.set_title('Stick Scaling')
self._stick_scaling_controller.set_line_description('Stick Scaling')
self._stick_scaling_controller.set_bounds(1, 6)
self._stick_scaling_controller.set_default('1')
self.ui.main_layout.addWidget(self._stick_scaling_controller)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
vehicle_event_dispatcher.register(
self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
vehicle_event_dispatcher.register(
self._accro_stick_scaling_received,
VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
self._cpt_before_send = 5
self.set_beginner_mode()
def unpack_data():
if not self._date_output_queue.empty():
try:
data = self._date_output_queue.get()
serial_data = data.split(',')
accroRollPidData = PIDData(serial_data[0], serial_data[1],
serial_data[2])
self._vehicle_event_dispatcher.dispatch_event(
VehicleEventDispatcher.PID_ACCRO_ROLL,
accroRollPidData)
accroPitchPidData = PIDData(serial_data[3], serial_data[4],
serial_data[5])
self._vehicle_event_dispatcher.dispatch_event(
VehicleEventDispatcher.PID_ACCRO_PITCH,
accroPitchPidData)
self._vehicle_event_dispatcher.dispatch_event(
VehicleEventDispatcher.PID_ACCRO_STICK_SCALING,
serial_data[6])
except:
logging.error(
"Protocol Handler: Failed to notify update rate PID data"
)
print "Protocol Handler: Failed to notify update rate PID data"
def get_current_pid(self):
return PIDData(self.p_line.get_value(), self.i_line.get_value(),
self.d_line.get_value())
