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Merge branch 'next' into laurent/OP-1337_French_translations_updates

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This commit is contained in:
Laurent Lalanne 2014-07-05 18:00:00 +02:00
commit 052730dc5d
17 changed files with 253 additions and 89 deletions
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5
CREDITS.txt
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@ -89,7 +89,6 @@ Mat Wellington
Kendal Wells Kendal Wells
David Willis David Willis
Dmitriy Zaitsev Dmitriy Zaitsev
Bertrand Songis
Andre Bernet Andre Bernet
Anthony Gomes Anthony Gomes
Cliff Geerdes Cliff Geerdes
@ -99,3 +98,7 @@ Laurent Lalanne
Patrick Huebner Patrick Huebner
Rich von Lehe Rich von Lehe
Stefan Cenkov Stefan Cenkov
Andrés Chavarría Krauser
Bertrand Oresve
Cosimo Corrado

127
WHATSNEW.txt
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@ -1,3 +1,130 @@
--- RELEASE-14.06-RC2 --- Peanuts Schnapps ---
This Release Candidate fixes the following issues:
*[OP-1378] - Check Limits for flight modes
*[OP-1377] - Calibration config panel has Apply button even when not in Expert mode
*[OP-1376] - Calibration results not saved to SD
*[OP-1375] - Update Mag Ki and Kp default settings
*[OP-1374] - Automatically enable the right PathFollower
*[OP-1337] - Fixes for French translation
The full list of features, improvements and bugfixes in this release candidate is accessible here:
http://progress.openpilot.org/issues/?filter=11462
--- RELEASE-14.06-RC1 --- Peanuts Schnapps ---
This is the Mid 2014 release.
This version still supports the CopterControl and CC3D.
It includes several additions and changes aimed at gps/navigation functionalities
(that are expected to be fully available on next release).
Some additions in this release:
- Addition of GPS assisted flight modes for revo: - Return To Base, Position hold, AutoCruise and Position Vario(LOS, FPV and NSEW);
- Stabilization refactoring that enhance rate performances;
- Sensor calibration has been redesigned for better usability;
The full list of features, improvements and bugfixes in this release is accessible here:
http://progress.openpilot.org/issues/?filter=11460
** New Feature & Improvements
* [OP-943] - Start using F4's Core Coupled RAM for more than just the IRQ handler stack
* [OP-974] - Make Bootloader Version available while flight software is running
* [OP-975] - Reconsider the calibration process
* [OP-1068] - Add support for magnetometer calibration matrix in place of scaling parameters
* [OP-1149] - Handle thermal bias calculation/calibration to gyro and accel
* [OP-1150] - Create UI to allow users to perform board thermal calibration
* [OP-1159] - Remove "Rev" checkboxes on input tab for channels on which it doesn't have an effect
* [OP-1161] - Add Alarm for Magnetometer if disturbed or uncalibrated
* [OP-1174] - Beautify Uploader gadget popups
* [OP-1194] - Scope gadget - plot and legend visibility state should be persisted between runs
* [OP-1198] - Allow GCS gadgets to save/restore individual state
* [OP-1216] - Refactor Flight Control Modules
* [OP-1230] - Automatically load the correct firmware file when GCS is running in a development environment
* [OP-1233] - Add make options to skip qmake and build a specific GCS directory
* [OP-1245] - Add GUI to control if, what, when and how to do flight side logging.
* [OP-1250] - Add GPS Protocol configuration in the Hardware configuration panel
* [OP-1258] - Update GCC ARM Embedded to 4.8-2014-q1
* [OP-1259] - Cruise Control tweaks
* [OP-1260] - Rattitude tweaks
* [OP-1273] - Implementation of the PixHawk airspeed sensor based on the MS4525DO
* [OP-1282] - Include I2C Alarm into Eagletree speed sensor module
* [OP-1287] - GPS assisted flight for Revo
* [OP-1299] - Autodetect number of cells in Battery module
* [OP-1302] - Improve on board led functionality
* [OP-1303] - Add PathPlan Alarm in System Health
* [OP-1307] - Create a bare DiscoveryF4 target for debugging and development purposes
* [OP-1308] - Set the same logic to CRITICAL Alarm and same logic to ERROR Alarm
* [OP-1312] - Implement a PIOS WS281x driver
* [OP-1319] - Fix minor spelling mistakes in fw code
* [OP-1335] - ConfigTaskWidget - Add support to bind GComboBox to integer property
* [OP-1339] - System Health panel improvement
* [OP-1350] - TakeOff location handling to be used with RTH
* [OP-1365] - Add instrumentation functions for flight code
** Bug
* [OP-1026] - Provide some standard method of calibrating CPU speed and load measurement for boards
* [OP-1033] - Data transfer errors on USB HID on F1 devices
* [OP-1043] - Ground OPLinkMini refuses to connect to one Revo unless first connected to another Revo
* [OP-1056] - GPS does not set home location when erased after lock has been established
* [OP-1080] - Unreliable detection of board through OPLink
* [OP-1100] - GCS plist for mac shows wrong associated filetypes, leftover from qtcreator
* [OP-1131] - Firmware mismatch check is not done if Uploader gadget is not active
* [OP-1172] - Some fonts are not defined in config files
* [OP-1196] - Board rotation in GCS not shown correctly upon connection but correctly saved in memory
* [OP-1212] - Fix Priority queue handling in telemetry
* [OP-1227] - High CPU load in ratitude mode on CopterControl
* [OP-1232] - Setting high telemetry rates for periodic uavobject triggers eventsystem warning.
* [OP-1235] - Some fixes for altitude estimation
* [OP-1237] - Blank/Black Buttons on Vehicle Configuration Multirotor Throttle Curve
* [OP-1241] - TxPID Does not work for Bank 3 PID settings
* [OP-1243] - OPMap widget context menu duplicating some menu separators each time its opened
* [OP-1252] - Update GCS to qt 5.2.1
* [OP-1266] - Gyro and accel thermal compensation is not applied if one or more coefficients have negative value
* [OP-1267] - Incorrect UAV position on GCS OPMap after homeLocation modification
* [OP-1272] - Unable to debug in SWD mode a revo board
* [OP-1283] - SystemHealthGadgetWidget::updateAlarms misinterprets coordinates in SVG file
* [OP-1284] - RTB flies into ground if base is high
* [OP-1285] - Erase Settings ToolTip is wrong
* [OP-1286] - GCS Map "Go To Place" doesn't work
* [OP-1288] - GPS PositionHold immediately flies several meters away if Home is not close
* [OP-1291] - Fix matlab import after UAVTalk changes
* [OP-1294] - Fix stack sizes for CopterControl
* [OP-1295] - Autoupdate not working
* [OP-1296] - Altitude Hold causes copter to ascent at full throttle when far from home location
* [OP-1297] - OPMap fails to read in saved waypoints correctly
* [OP-1300] - SystemHealth gadget does not show "Configuration Alarm"
* [OP-1301] - Hardware settings can't be saved with CC/CC3D
* [OP-1304] - Revo stack alarm
* [OP-1314] - Fix Airspeed stack size
* [OP-1315] - Unable to arm UAV when AirspeedSensorType is set to GroundspeedBaseWindEstimation
* [OP-1323] - GCS font fixes
* [OP-1325] - Fix event system warnings to be errors
* [OP-1326] - Set AIrspeedSensor default back to "None"
* [OP-1327] - SystemAlarms must be non-acked
* [OP-1329] - Various fixes to airspeed module
* [OP-1330] - Cannot set homelocation.set=false when gps reception is optimal
* [OP-1331] - Input and Output Channel Configuration alignments issues
* [OP-1332] - PiOS alarms does not reset alarm state on timer overflow
* [OP-1333] - Output Channel Configuration alignments issues
* [OP-1340] - Auto-update greyed out - not available
* [OP-1343] - GCS Configuration - Input Channel ResponseTime not saved
* [OP-1346] - Input Channel Response Time mismatch between GCS config screen and UAVObject
* [OP-1348] - Config Gadget flashes next panel when connecting/disconnecting board
* [OP-1351] - GCS Calibration UI polishing
* [OP-1352] - Headwind-improvements for FixedWingPathFollower
* [OP-1353] - HITL Flightgear fails to set Position and velocity correctly
* [OP-1354] - Current and voltage not shown in PFD
* [OP-1355] - Magnetometer calibration and board rotation don't play along
* [OP-1363] - Sanitychecks MUST check if magnetometers and GPS are enabled for any pathfollower modes (outdoor mode selected)
* [OP-1371] - Sanitychecks overzealous: hitl/sitl broken
** Tasks
* [OP-1274] - Update FreeRTOS to 8.0
* [OP-1337] - French translations updates (14.04/05)
* [OP-1254] - Update to QT5.2.1 for Linux x86/64
* [OP-1263] - Move SDL out of Qt install
* [OP-1309] - Stabilization refactoring
--- RELEASE-14.01 --- Cruising Ratt --- --- RELEASE-14.01 --- Cruising Ratt ---
This is the first 2014 software release. This is the first 2014 software release.
This version still supports the CopterControl and CC3D. This version still supports the CopterControl and CC3D.

10
flight/libraries/inc/sanitycheck.h
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@ -32,6 +32,14 @@
#include <systemalarms.h> #include <systemalarms.h>
typedef enum {
FRAME_TYPE_MULTIROTOR,
FRAME_TYPE_HELI,
FRAME_TYPE_FIXED_WING,
FRAME_TYPE_GROUND,
FRAME_TYPE_CUSTOM,
} FrameType_t;
#define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE #define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE #define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
@ -45,4 +53,6 @@
extern int32_t configuration_check(); extern int32_t configuration_check();
FrameType_t GetCurrentFrameType();
#endif /* SANITYCHECK_H */ #endif /* SANITYCHECK_H */

59
flight/libraries/sanitycheck.c
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@ -94,26 +94,8 @@ int32_t configuration_check()
// Classify airframe type // Classify airframe type
bool multirotor; bool multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch (airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
multirotor = true;
break;
default:
multirotor = false;
}
// For each available flight mode position sanity check the available // For each available flight mode position sanity check the available
// modes // modes
@ -272,3 +254,42 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
return true; return true;
} }
FrameType_t GetCurrentFrameType()
{
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
return FRAME_TYPE_MULTIROTOR;
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL:
return FRAME_TYPE_FIXED_WING;
case SYSTEMSETTINGS_AIRFRAMETYPE_HELICP:
return FRAME_TYPE_HELI;
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
return FRAME_TYPE_GROUND;
case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:
case SYSTEMSETTINGS_AIRFRAMETYPE_CUSTOM:
return FRAME_TYPE_CUSTOM;
}
// anyway it should not reach here
return FRAME_TYPE_CUSTOM;
}

6
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
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@ -62,6 +62,7 @@
#include "velocitystate.h" #include "velocitystate.h"
#include "taskinfo.h" #include "taskinfo.h"
#include <pios_struct_helper.h> #include <pios_struct_helper.h>
#include <sanitycheck.h>
#include "sin_lookup.h" #include "sin_lookup.h"
#include "paths.h" #include "paths.h"
@ -112,7 +113,10 @@ int32_t FixedWingPathFollowerInitialize()
HwSettingsInitialize(); HwSettingsInitialize();
HwSettingsOptionalModulesData optionalModules; HwSettingsOptionalModulesData optionalModules;
HwSettingsOptionalModulesGet(&optionalModules); HwSettingsOptionalModulesGet(&optionalModules);
if (optionalModules.FixedWingPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) { FrameType_t frameType = GetCurrentFrameType();
if ((optionalModules.FixedWingPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) ||
(frameType == FRAME_TYPE_FIXED_WING)) {
followerEnabled = true; followerEnabled = true;
FixedWingPathFollowerSettingsInitialize(); FixedWingPathFollowerSettingsInitialize();
FixedWingPathFollowerStatusInitialize(); FixedWingPathFollowerStatusInitialize();

2
flight/modules/StateEstimation/filtercf.c
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@ -234,7 +234,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
float magBias[3]; float magBias[3];
RevoCalibrationmag_biasArrayGet(magBias); RevoCalibrationmag_biasArrayGet(magBias);
// don't trust Mag for initial orientation if it has not been calibrated // don't trust Mag for initial orientation if it has not been calibrated
if (magBias[0] < 1e-6f && magBias[1] < 1e-6f && magBias[2] < 1e-6f) { if (fabsf(magBias[0]) < 1e-6f && fabsf(magBias[1]) < 1e-6f && fabsf(magBias[2]) < 1e-6f) {
this->magCalibrated = false; this->magCalibrated = false;
mag[0] = 100.0f; mag[0] = 100.0f;
mag[1] = 0.0f; mag[1] = 0.0f;

13
flight/modules/System/systemmod.c
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@ -96,11 +96,12 @@ static xQueueHandle objectPersistenceQueue;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow; static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
static bool mallocFailed; static bool mallocFailed;
static HwSettingsData bootHwSettings; static HwSettingsData bootHwSettings;
static FrameType_t bootFrameType;
static struct PIOS_FLASHFS_Stats fsStats; static struct PIOS_FLASHFS_Stats fsStats;
// Private functions // Private functions
static void objectUpdatedCb(UAVObjEvent *ev); static void objectUpdatedCb(UAVObjEvent *ev);
static void hwSettingsUpdatedCb(UAVObjEvent *ev); static void checkSettingsUpdatedCb(UAVObjEvent *ev);
#ifdef DIAG_TASKS #ifdef DIAG_TASKS
static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context); static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context);
static void callbackSchedulerForEachCallback(int16_t callback_id, const struct pios_callback_info *callback_info, void *context); static void callbackSchedulerForEachCallback(int16_t callback_id, const struct pios_callback_info *callback_info, void *context);
@ -195,8 +196,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Load a copy of HwSetting active at boot time // Load a copy of HwSetting active at boot time
HwSettingsGet(&bootHwSettings); HwSettingsGet(&bootHwSettings);
bootFrameType = GetCurrentFrameType();
// Whenever the configuration changes, make sure it is safe to fly // Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb); HwSettingsConnectCallback(checkSettingsUpdatedCb);
SystemSettingsConnectCallback(checkSettingsUpdatedCb);
#ifdef DIAG_TASKS #ifdef DIAG_TASKS
TaskInfoData taskInfoData; TaskInfoData taskInfoData;
@ -396,13 +399,15 @@ static void objectUpdatedCb(UAVObjEvent *ev)
/** /**
* Called whenever hardware settings changed * Called whenever hardware settings changed
*/ */
static void hwSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void checkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
HwSettingsData currentHwSettings; HwSettingsData currentHwSettings;
HwSettingsGet(&currentHwSettings); HwSettingsGet(&currentHwSettings);
FrameType_t currentFrameType = GetCurrentFrameType();
// check whether the Hw Configuration has changed from the one used at boot time // check whether the Hw Configuration has changed from the one used at boot time
if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) { if ((memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) ||
(currentFrameType != bootFrameType)) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0); ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
} }
} }

5
flight/modules/VtolPathFollower/vtolpathfollower.c
View File

@ -73,6 +73,7 @@
#include "paths.h" #include "paths.h"
#include "CoordinateConversions.h" #include "CoordinateConversions.h"
#include <sanitycheck.h>
#include "cameradesired.h" #include "cameradesired.h"
#include "poilearnsettings.h" #include "poilearnsettings.h"
@ -128,8 +129,10 @@ int32_t VtolPathFollowerInitialize()
HwSettingsOptionalModulesData optionalModules; HwSettingsOptionalModulesData optionalModules;
HwSettingsOptionalModulesGet(&optionalModules); HwSettingsOptionalModulesGet(&optionalModules);
FrameType_t frameType = GetCurrentFrameType();
if (optionalModules.VtolPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) { if ((optionalModules.VtolPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) ||
(frameType == FRAME_TYPE_MULTIROTOR)) {
VtolPathFollowerSettingsInitialize(); VtolPathFollowerSettingsInitialize();
NedAccelInitialize(); NedAccelInitialize();
PathDesiredInitialize(); PathDesiredInitialize();

17
ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp
View File

@ -55,18 +55,23 @@ GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) :
void GyroBiasCalibrationModel::start() void GyroBiasCalibrationModel::start()
{ {
// Store and reset board rotation before calibration starts // reset dirty state to forget previous unsaved runs
storeAndClearBoardRotation(); m_dirty = false;
// configure board for calibration
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
memento.revoCalibrationData = revoCalibrationData; memento.revoCalibrationData = revoCalibrationData;
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE; revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
revoCalibration->setData(revoCalibrationData); revoCalibration->setData(revoCalibrationData);
// Disable gyro bias correction while calibrating
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
memento.attitudeSettingsData = attitudeSettingsData; memento.attitudeSettingsData = attitudeSettingsData;
// Disable gyro bias correction while calibrating
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
// Zero board rotation
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettings->setData(attitudeSettingsData); attitudeSettings->setData(attitudeSettingsData);
UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata(); UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata();
@ -89,9 +94,6 @@ void GyroBiasCalibrationModel::start()
gyro_state_accum_y.clear(); gyro_state_accum_y.clear();
gyro_state_accum_z.clear(); gyro_state_accum_z.clear();
// reset dirty state to forget previous unsaved runs
m_dirty = false;
started(); started();
progressChanged(0); progressChanged(0);
displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
@ -149,9 +151,6 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
revoCalibration->setData(memento.revoCalibrationData); revoCalibration->setData(memento.revoCalibrationData);
attitudeSettings->setData(memento.attitudeSettingsData); attitudeSettings->setData(memento.attitudeSettingsData);
// Recall saved board rotation
recallBoardRotation();
stopped(); stopped();
displayInstructions(tr("Gyroscope calibration completed successfully."), WizardModel::Success); displayInstructions(tr("Gyroscope calibration completed successfully."), WizardModel::Success);
displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);

3
ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h
View File

@ -57,8 +57,7 @@ public:
signals: signals:
void started(); void started();
void stopped(); void stopped();
void storeAndClearBoardRotation();
void recallBoardRotation();
void progressChanged(int value); void progressChanged(int value);
void displayVisualHelp(QString elementID); void displayVisualHelp(QString elementID);
void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info); void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info);

2
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
View File

@ -407,7 +407,7 @@ void ThermalCalibrationHelper::updateTemperature(float temp)
} }
if (!m_rangeReached && (range() >= TargetTempDelta)) { if (!m_rangeReached && (range() >= TargetTempDelta)) {
m_rangeReached = true; m_rangeReached = true;
addInstructions(tr("Target temperature span has been acquired. You may now end acquisition or continue.")); addInstructions(tr("Target temperature span has been acquired. Acquisition may be ended or, preferably, continued."));
} }
emit temperatureRangeChanged(range()); emit temperatureRangeChanged(range());

2
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -86,7 +86,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager()); HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData(); HwSettings::DataFields hwSettingsData = hwSettings->getData();
if(hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) { if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
m_telemetry->gpsProtocol->setEnabled(false); m_telemetry->gpsProtocol->setEnabled(false);
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol")); m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
} else { } else {

4
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -157,8 +157,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
connect(m_gyroBiasCalibrationModel, SIGNAL(started()), this, SLOT(disableAllCalibrations())); connect(m_gyroBiasCalibrationModel, SIGNAL(started()), this, SLOT(disableAllCalibrations()));
connect(m_gyroBiasCalibrationModel, SIGNAL(stopped()), this, SLOT(enableAllCalibrations())); connect(m_gyroBiasCalibrationModel, SIGNAL(stopped()), this, SLOT(enableAllCalibrations()));
connect(m_gyroBiasCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation()));
connect(m_gyroBiasCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation()));
connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType)), connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType)),
this, SLOT(addInstructions(QString, WizardModel::MessageType))); this, SLOT(addInstructions(QString, WizardModel::MessageType)));
connect(m_gyroBiasCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString))); connect(m_gyroBiasCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
@ -332,7 +330,7 @@ void ConfigRevoWidget::displayTemperature(float temperature)
void ConfigRevoWidget::displayTemperatureGradient(float temperatureGradient) void ConfigRevoWidget::displayTemperatureGradient(float temperatureGradient)
{ {
m_ui->temperatureGradientLabel->setText(tr("Variance: %1°C/min").arg(format(temperatureGradient))); m_ui->temperatureGradientLabel->setText(tr("Gradient: %1°C/min").arg(format(temperatureGradient)));
} }
void ConfigRevoWidget::displayTemperatureRange(float temperatureRange) void ConfigRevoWidget::displayTemperatureRange(float temperatureRange)

67
ground/openpilotgcs/src/plugins/config/revosensors.ui
View File

@ -968,42 +968,37 @@ A setting of 0.00 disables the filter.</string>
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt; &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600;&quot;&gt;Help&lt;/span&gt;&lt;/p&gt;
&lt;tr&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;td style=&quot;border: none;&quot;&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Steps 1, 2 and 3 are necessary.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;&quot;&gt;Help&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Step 4 is optional but may help achieve the best possible results.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Steps 1, 2 and 3 are necessary.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 1: Accelerometer and Magnetometer calibration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Step 4 is optional but may help achieve the best possible results.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will calibrate the scale for the Magnetometer and the Accelerometer sensors. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 1: Accelerometer and Magnetometer calibration&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt; to begin, and follow the instructions for each step. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;For best results with the accelerometer calibration, it is advised that it be performed with a free unmounted flight controller as this allows one to accurately position the board for each orientation in the sequence.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;These calibrations will compute the scale for Magnetometer and Accelerometer sensors. &lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Press &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt; to begin calibration and follow the instructions which will be displayed. &lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;The magnetometer calibration must be performed with the board mounted in the airframe in order for the measurements to incorporate any bias produced by local onboard metal/magnetic elements.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;For optimal calibration, perform the acceleration calibration with the board not mounted in the craft.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;In this way you can accurately level the board on your desk/table during the process. &lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Note 1: Before the magnetometer or the accelerometer calibration is performed your Home Location must be set. This step is needed in order to determine the local magnetic field vector (Be) and acceleration due to gravity (g_e).&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Magnetometer calibration needs to be performed inside your plane/copter to account for metal/magnetic elements on board.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point. One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Note 1&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt; &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; text-decoration: underline;&quot;&gt;Your HomeLocation must be set first&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 2: Board level calibration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;Note 2&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt; There is no need to point exactly at South/North/West/East. These are just used to easily tell the user how to point the plane/craft. &lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will ensure that board leveling is accurate. Place the airframe as horizontally as possible (use a spirit level if necessary), then press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;. Do not move the airframe at all until the end of the calibration.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;You can simply assume that North is in front of you, right is East, etc., and perform the calibration this way.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 3: Gyro bias calculation&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 2: Board level calibration&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will allow you to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/airframe completely stationary and press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;. &lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt; and do not move your airframe at all until the end of the calibration.&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 4: Thermal calibration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 3: Gyro bias calculation&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;The calibration will compute sensors bias variations at different temperatures while the board warms up.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and pres &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;. &lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This allows a certain amount of correction of those bias variations against temperature changes. It improves altitude hold accuracy and and reduces yaw drift.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;To perform this calibration disconnect any power from the board and leave it to cool down at room temperature for 15-20 minutes. Then attach the usb connector to the board and press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;, leaving the board completely stationary. Wait until complete.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 4: Thermal calibration&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;The calibration will compute sensors bias variations at different temperatures while the board warms up.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;This allows a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;To perform this calibration leave the board to cool down at room temperature in the coldest places available.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;After 15-20 minutes, attach the usb connector to the board and press &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-style:italic;&quot;&gt;Start,&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt; leaving the board steady. Wait until completed.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="textInteractionFlags"> <property name="textInteractionFlags">
<set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set> <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>

4
shared/uavobjectdefinition/attitudesettings.xml
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@ -4,8 +4,8 @@
<field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/> <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/> <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/> <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/> <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/> <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/> <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/> <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/> <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

12
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -83,27 +83,27 @@
limits="\ limits="\
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise;\ %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
\ \
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise;\ %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
\ \
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise;\ %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
\ \
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise;\ %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
\ \
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise;\ %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
\ \
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\ %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:Autotune:AutoCruise"/> %0903NE:POI:PathPlanner:Autotune:AutoCruise"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>