PID contrllers settings page was added
This commit is contained in:
@@ -18,6 +18,7 @@ import androidx.compose.material3.DropdownMenu
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import androidx.compose.material3.DropdownMenuItem
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import androidx.compose.material3.ExperimentalMaterial3Api
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import androidx.compose.material3.Icon
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import androidx.compose.material3.MaterialTheme
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import androidx.compose.material3.OutlinedTextField
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import androidx.compose.material3.Text
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import androidx.compose.runtime.Composable
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@@ -30,12 +31,14 @@ import androidx.compose.ui.Alignment
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import androidx.compose.ui.Modifier
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import androidx.compose.ui.geometry.Size
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import androidx.compose.ui.layout.onGloballyPositioned
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import androidx.compose.ui.platform.LocalContext
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import androidx.compose.ui.platform.LocalDensity
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import androidx.compose.ui.text.input.KeyboardType
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import androidx.compose.ui.text.style.TextAlign
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import androidx.compose.ui.tooling.preview.Preview
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import androidx.compose.ui.unit.dp
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import androidx.compose.ui.unit.toSize
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import com.helible.pilot.R
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import com.helible.pilot.components.BlankPage
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import com.helible.pilot.dataclasses.DeviceState
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import com.helible.pilot.dataclasses.DeviceStatus
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@@ -55,8 +58,9 @@ fun PidSettingsPage(
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var pValue by remember { mutableStateOf("") }
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var iValue by remember { mutableStateOf("") }
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var dValue by remember { mutableStateOf("") }
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var selectedRegulator by remember { mutableStateOf(1) }
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val dropdownMenuItems = listOf("PID 1", "PID 2", "PID 3")
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var selectedRegulator by remember { mutableStateOf("") }
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val dropdownMenuItems =
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listOf("Контроллер высоты", "Контроллер крена", "Контроллер рысканья")
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LaunchedEffect(null) {
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requestPidSettings()
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@@ -64,21 +68,23 @@ fun PidSettingsPage(
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LaunchedEffect(deviceState?.pidSettings) {
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if (deviceState?.pidSettings != null) {
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val pidSettings = deviceState.pidSettings
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when(selectedRegulator){
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1 -> {
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pidSettings.p1.p.toString().also { pValue = it }
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pidSettings.p1.i.toString().also { iValue = it }
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pidSettings.p1.d.toString().also { dValue = it }
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when (selectedRegulator) {
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dropdownMenuItems[0] -> {
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pidSettings.heightControllerParams.p.toString().also { pValue = it }
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pidSettings.heightControllerParams.i.toString().also { iValue = it }
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pidSettings.heightControllerParams.d.toString().also { dValue = it }
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}
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2 -> {
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pidSettings.p2.p.toString().also { pValue = it }
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pidSettings.p2.i.toString().also { iValue = it }
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pidSettings.p2.d.toString().also { dValue = it }
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dropdownMenuItems[1] -> {
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pidSettings.yawControllerParams.p.toString().also { pValue = it }
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pidSettings.yawControllerParams.i.toString().also { iValue = it }
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pidSettings.yawControllerParams.d.toString().also { dValue = it }
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}
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3 -> {
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pidSettings.p3.p.toString().also { pValue = it }
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pidSettings.p3.i.toString().also { iValue = it }
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pidSettings.p3.d.toString().also { dValue = it }
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dropdownMenuItems[2] -> {
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pidSettings.pitchControllerParams.p.toString().also { pValue = it }
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pidSettings.pitchControllerParams.i.toString().also { iValue = it }
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pidSettings.pitchControllerParams.d.toString().also { dValue = it }
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}
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}
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}
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@@ -87,7 +93,6 @@ fun PidSettingsPage(
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horizontalAlignment = Alignment.CenterHorizontally,
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modifier = Modifier
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.fillMaxWidth()
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.padding(10.dp)
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)
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{
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if (deviceState?.status != DeviceStatus.Idle) {
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@@ -96,13 +101,32 @@ fun PidSettingsPage(
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textAlign = TextAlign.Center
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)
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} else if (deviceState.pidSettings == null) {
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Column {
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CircularProgressIndicator(modifier = Modifier.padding(10.dp))
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Text(text = "Синхронизация...")
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}
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CircularProgressIndicator(modifier = Modifier.padding(10.dp))
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Text(text = "Синхронизация...")
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} else {
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val pidSettings = deviceState.pidSettings
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Column(modifier = Modifier.padding(horizontal = 10.dp).padding(bottom = 10.dp)) {
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Text(
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"Рекомендации по настройке ПИД регуляторов",
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style = MaterialTheme.typography.titleMedium,
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modifier = Modifier
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.padding(vertical = 10.dp)
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)
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Text(
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text = LocalContext.current.getString(R.string.p_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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Text(
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text = LocalContext.current.getString(R.string.i_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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Text(
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text = LocalContext.current.getString(R.string.d_pid_value_description),
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style = MaterialTheme.typography.bodyMedium
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)
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}
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OutlinedDropdownMenu(
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label = "ПИД регулятор",
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suggestions = dropdownMenuItems,
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@@ -110,22 +134,24 @@ fun PidSettingsPage(
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Log.i("BluetoothVM", selected)
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when (dropdownMenuItems.indexOf(selected)) {
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0 -> {
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selectedRegulator = 1
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pidSettings.p1.p.toString().also { pValue = it }
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pidSettings.p1.i.toString().also { iValue = it }
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pidSettings.p1.d.toString().also { dValue = it }
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selectedRegulator = dropdownMenuItems[0]
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pidSettings.heightControllerParams.p.toString().also { pValue = it }
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pidSettings.heightControllerParams.i.toString().also { iValue = it }
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pidSettings.heightControllerParams.d.toString().also { dValue = it }
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}
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1 -> {
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selectedRegulator = 2
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pidSettings.p2.p.toString().also { pValue = it }
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pidSettings.p2.i.toString().also { iValue = it }
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pidSettings.p2.d.toString().also { dValue = it }
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selectedRegulator = dropdownMenuItems[1]
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pidSettings.yawControllerParams.p.toString().also { pValue = it }
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pidSettings.yawControllerParams.i.toString().also { iValue = it }
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pidSettings.yawControllerParams.d.toString().also { dValue = it }
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}
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2 -> {
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selectedRegulator = 3
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pidSettings.p3.p.toString().also { pValue = it }
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pidSettings.p3.i.toString().also { iValue = it }
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pidSettings.p3.d.toString().also { dValue = it }
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selectedRegulator = dropdownMenuItems[2]
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pidSettings.pitchControllerParams.p.toString().also { pValue = it }
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pidSettings.pitchControllerParams.i.toString().also { iValue = it }
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pidSettings.pitchControllerParams.d.toString().also { dValue = it }
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}
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}
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},
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@@ -167,23 +193,35 @@ fun PidSettingsPage(
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Button(
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onClick = {
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when (selectedRegulator) {
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1 -> {
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dropdownMenuItems[0] -> {
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val newPidSettings = pidSettings.copy(
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p1 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
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heightControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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2 -> {
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dropdownMenuItems[1] -> {
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val newPidSettings = pidSettings.copy(
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p2 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
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yawControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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3 -> {
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dropdownMenuItems[2] -> {
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val newPidSettings = pidSettings.copy(
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p3 = PidParams(p.toFloat(), i.toFloat(), d.toFloat())
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pitchControllerParams = PidParams(
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p.toFloat(),
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i.toFloat(),
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d.toFloat()
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)
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)
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setPidSettings(newPidSettings)
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}
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@@ -199,7 +237,7 @@ fun PidSettingsPage(
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}
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private fun isValidValue(k: String): Boolean {
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return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 2f
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return k.toFloatOrNull() != null && k.toFloat() >= 0f && k.toFloat() <= 15f
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}
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@Preview(showBackground = true)
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@@ -1,10 +1,11 @@
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package com.helible.pilot.dataclasses
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import com.squareup.moshi.Json
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import com.squareup.moshi.JsonClass
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@JsonClass(generateAdapter = true)
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data class PidSettings (
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val p1: PidParams,
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val p2: PidParams,
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val p3: PidParams
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@Json(name = "p1") val heightControllerParams: PidParams,
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@Json(name = "p2") val yawControllerParams: PidParams,
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@Json(name = "p3") val pitchControllerParams: PidParams
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)
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@@ -0,0 +1,8 @@
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package com.helible.pilot.dataclasses
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import com.squareup.moshi.JsonClass
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@JsonClass(generateAdapter = true)
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data class StopMessage(
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val stop: Boolean = true
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)
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