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Code Issues Releases Activity

OP-118 AHRS: Made default calibration values friendly for people. Also fixed bug that would repeatedly trigger calibration when it was requested.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1371 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-22 16:43:00 +00:00 committed by peabody124
parent dd34ca1a8d
commit 0862d64b8c
3 changed files with 12 additions and 7 deletions
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9
flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
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@ -100,13 +100,17 @@ static void GPSPositionUpdatedCb(UAVObjEvent * ev)
static bool HomeLocationIsUpdatedFlag = false;
static void HomeLocationUpdatedCb(UAVObjEvent * ev)
{
HomeLocationIsUpdatedFlag = true;
HomeLocationIsUpdatedFlag = true;
}
static bool AHRSCalibrationIsUpdatedFlag = false;
static bool AHRSCalibrationIsLocallyUpdateFlag = false;
static void AHRSCalibrationUpdatedCb(UAVObjEvent * ev)
{
AHRSCalibrationIsUpdatedFlag = true;
if(AHRSCalibrationIsLocallyUpdateFlag == true)
AHRSCalibrationIsLocallyUpdateFlag = false;
else
AHRSCalibrationIsUpdatedFlag = true;
}
/**
@ -302,6 +306,7 @@ static void update_calibration(struct opahrs_msg_v1_rsp_calibration * calibratio
AHRSCalibrationData data;
AHRSCalibrationGet(&data);
AHRSCalibrationIsLocallyUpdateFlag = true;
data.accel_var[0] = calibration->accel_var[0];
data.accel_var[1] = calibration->accel_var[1];
data.accel_var[2] = calibration->accel_var[2];

2
ground/src/plugins/uavobjects/navigationsettings.cpp
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@ -47,7 +47,7 @@ NavigationSettings::NavigationSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISS
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
QStringList AccelerationMaxElemNames;
AccelerationMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("AccelerationMax"), QString("m/s²"), UAVObjectField::FLOAT32, AccelerationMaxElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("AccelerationMax"), QString("m/s"), UAVObjectField::FLOAT32, AccelerationMaxElemNames, QStringList()) );
QStringList SpeedMaxElemNames;
SpeedMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("SpeedMax"), QString("m/s"), UAVObjectField::FLOAT32, SpeedMaxElemNames, QStringList()) );

8
ground/src/shared/uavobjectdefinition/ahrscalibration.xml
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@ -1,14 +1,14 @@
<xml>
<object name="AHRSCalibration" singleinstance="true" settings="true">
<field name="measure_var" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="measure_var" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="accel_bias" units="raw" type="int16" elementnames="X,Y,Z" defaultvalue="-2048"/>
<field name="accel_scale" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0.012"/>
<field name="accel_var" units="m^2/s^s" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="accel_var" units="m^2/s^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
<field name="gyro_bias" units="raw" type="int16" elementnames="X,Y,Z" defaultvalue="-1675"/>
<field name="gyro_scale" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0.0070"/>
<field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5-e5"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>