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https://bitbucket.org/librepilot/librepilot.git
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96 lines
2.4 KiB
C
96 lines
2.4 KiB
C
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/**
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******************************************************************************
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*
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* @file levellingutil.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup LevellingUtil
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* @{
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* @brief
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef LEVELLINGUTIL_H
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#define LEVELLINGUTIL_H
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#include <QObject>
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#include <QTimer>
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#include <QMutex>
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#include "uavobject.h"
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struct accelGyroBias {
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float m_accelerometerXBias;
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float m_accelerometerYBias;
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float m_accelerometerZBias;
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float m_gyroXBias;
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float m_gyroYBias;
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float m_gyroZBias;
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};
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class LevellingUtil : public QObject
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{
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Q_OBJECT
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public:
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explicit LevellingUtil(long measurementCount, long measurementPeriod);
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signals:
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void progress(long current, long total);
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void done(accelGyroBias measuredBias);
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void timeout(QString message);
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public slots:
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void start();
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void abort();
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private slots:
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void measurementsUpdated(UAVObject * obj);
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void timeout();
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private:
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static const float G = 9.81f;
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static const float ACCELERATION_SCALE = 0.004f * 9.81f;
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QMutex m_measurementMutex;
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QTimer m_timeoutTimer;
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bool m_isMeasuring;
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long m_receivedUpdates;
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long m_measurementCount;
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long m_measurementPeriod;
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UAVObject::Metadata m_previousMetaData;
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QList<double> m_accelerometerX;
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QList<double> m_accelerometerY;
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QList<double> m_accelerometerZ;
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QList<double> m_gyroX;
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QList<double> m_gyroY;
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QList<double> m_gyroZ;
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void stop();
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void startMeasurement();
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void stopMeasurement();
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accelGyroBias calculateLevellingData();
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double listMean(QList<double> list);
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};
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#endif // LEVELLINGUTIL_H
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