rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

OP-38 Further updates to config plugin, please test!

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1416 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-08-26 14:23:40 +00:00 committed by edouard
parent 828363948d
commit 08f2c5fd82
12 changed files with 161 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
ground/src/plugins/config/ahrs.ui
View File

@ -74,7 +74,7 @@ Tip: lower is better!</string>
<property name="toolTip">
<string>Press to start a calibration procedure.
Takes about 10 seconds.</string>
Takes about 30 seconds max.</string>
</property>
<property name="text">
<string>Start</string>
@ -214,7 +214,7 @@ Takes about 10 seconds.</string>
<string>Save Home Location to SD</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_3">
<widget class="QPushButton" name="ahrsSettingsSaveRAM">
<property name="geometry">
<rect>
<x>430</x>
@ -227,7 +227,7 @@ Takes about 10 seconds.</string>
<string>Save to RAM</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_7">
<widget class="QPushButton" name="ahrsSettingsSaveSD">
<property name="geometry">
<rect>
<x>540</x>
@ -240,7 +240,7 @@ Takes about 10 seconds.</string>
<string>Save to SD</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_8">
<widget class="QPushButton" name="ahrsSettingsRequest">
<property name="geometry">
<rect>
<x>320</x>
@ -291,10 +291,35 @@ Takes about 10 seconds.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save is only enabled once the calibration is done (&quot;Start&quot; on the left)</string>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QProgressBar" name="calibProgress">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>390</x>
<y>120</y>
<width>201</width>
<height>23</height>
</rect>
</property>
<property name="maximum">
<number>15</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
</widget>
</widget>
</widget>
<resources/>

1
ground/src/plugins/config/config.pro
View File

@ -2,6 +2,7 @@ TEMPLATE = lib
TARGET = Config
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/uavtalk/uavtalk.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
OTHER_FILES += Config.pluginspec

137
ground/src/plugins/config/configahrswidget.cpp
View File

@ -165,10 +165,7 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
// Fill the dropdown menus:
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSSettings")));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->addItems(field->getOptions());
@ -176,6 +173,10 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsCalibSave, SIGNAL(clicked()), this, SLOT(saveAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
}
@ -198,35 +199,44 @@ void ConfigAHRSWidget::launchAHRSCalibration()
m_ahrs->calibInstructions->setText("Calibration launched...");
m_ahrs->ahrsCalibStart->setEnabled(false);
m_ahrs->ahrsCalibSave->setEnabled(false);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("TRUE");
obj->updated();
QTimer *waitabit = new QTimer();
waitabit->setSingleShot(true);
waitabit->start(15000);
connect(waitabit, SIGNAL(timeout()), this, SLOT(calibPhase2()));
QTimer::singleShot(15000, this, SLOT(calibPhase2()));
phaseCounter = 0;
progressBarIndex = 0;
connect(&progressBarTimer, SIGNAL(timeout()), this, SLOT(incrementProgress()));
progressBarTimer.start(1000);
}
/**
Increment progress bar
*/
void ConfigAHRSWidget::incrementProgress()
{
m_ahrs->calibProgress->setValue(progressBarIndex++);
if (progressBarIndex > m_ahrs->calibProgress->maximum()) {
progressBarTimer.stop();
progressBarIndex = 0;
}
}
/**
Callback after 15 seconds once calibration is done on the board.
Callback once calibration is done on the board.
Currently we don't have a way to tell if calibration is finished, so we
have to use a timer.
calibPhase2 is also connected to the AHRSCalibration object update signal.
*/
void ConfigAHRSWidget::calibPhase2()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
// This is a bit weird, but it is because we are expecting an update from the
// OP board with the correct calibration values, and those only arrive on the object update
@ -242,58 +252,87 @@ void ConfigAHRSWidget::calibPhase2()
case 1: // this is where we end up with the update just above
phaseCounter++;
break;
case 2: // This is the update with the right values
disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
// Now update size of all the graphs
// I have not found a way to do this elegantly...
UAVObjectField *field = obj->getField(QString("accel_var"));
// The expected range is from 1E-6 to 1E-1
double steps = 6; // 6 bars on the graph
float accel_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
float accel_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
float accel_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
case 2: { // This is the update with the right values (coming from the board)
disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
// Now update size of all the graphs
drawVariancesGraph();
field = obj->getField(QString("gyro_var"));
float gyro_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
float gyro_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
float gyro_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
field = obj->getField(QString("mag_var"));
float mag_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
float mag_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
float mag_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
// Now wait 15 more seconds before re-enabling the "Save" button
QTimer::singleShot(15000, this, SLOT(calibPhase2()));
m_ahrs->calibInstructions->setText(QString("Please review the results..."));
progressBarIndex = 0;
phaseCounter++;
}
break;
case 3: // This step re-enables the "Save" button
m_ahrs->calibInstructions->setText(QString("Press \"Save\" if OK."));
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->ahrsCalibSave->setEnabled(true);
break;
}
}
/**
Saves the AHRS sensors calibration
Saves the AHRS sensors calibration (to RAM only)
*/
void ConfigAHRSWidget::saveAHRSCalibration()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("FALSE");
obj->updated();
}
/**
Draws the sensor variances bargraph
*/
void ConfigAHRSWidget::drawVariancesGraph()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
// Now update size of all the graphs
// I have not found a way to do this elegantly...
UAVObjectField *field = obj->getField(QString("accel_var"));
// The expected range is from 1E-6 to 1E-1
double steps = 6; // 6 bars on the graph
float accel_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
float accel_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
float accel_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
field = obj->getField(QString("gyro_var"));
float gyro_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
float gyro_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
float gyro_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
field = obj->getField(QString("mag_var"));
float mag_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
float mag_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
float mag_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
}
/**
Request current settings from the AHRS
*/
void ConfigAHRSWidget::ahrsSettingsRequest()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
drawVariancesGraph();
}

8
ground/src/plugins/config/configahrswidget.h
View File

@ -36,6 +36,7 @@
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QList>
#include <QTimer>
class ConfigAHRSWidget: public ConfigTaskWidget
@ -47,6 +48,7 @@ public:
~ConfigAHRSWidget();
private:
void drawVariancesGraph();
Ui_AHRSWidget *m_ahrs;
QGraphicsSvgItem *ahrsbargraph;
QGraphicsSvgItem *accel_x;
@ -60,12 +62,18 @@ private:
QGraphicsSvgItem *mag_z;
double maxBarHeight;
int phaseCounter;
int progressBarIndex;
QTimer progressBarTimer;
const static double maxVarValue = 0.1;
private slots:
void launchAHRSCalibration();
void saveAHRSCalibration();
void calibPhase2();
void incrementProgress();
void ahrsSettingsRequest();
void ahrsSettingsSaveRAM();
void ahrsSettingsSaveSD();
protected:
void showEvent(QShowEvent *event);

2
ground/src/plugins/config/configairframewidget.cpp
View File

@ -54,6 +54,8 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
connect(m_aircraft->saveAircraftToRAM, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
connect(m_aircraft->getAircraftCurrent, SIGNAL(clicked()), this, SLOT(requestAircraftUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
}
ConfigAirframeWidget::~ConfigAirframeWidget()

15
ground/src/plugins/config/configgadgetwidget.cpp
View File

@ -49,15 +49,19 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
QVBoxLayout *layout = new QVBoxLayout;
layout->addWidget(ftw);
setLayout(layout);
QWidget *qwd = new ConfigServoWidget();
QWidget *qwd = new ConfigServoWidget(this);
ftw->insertTab(0, qwd,QIcon(":/configgadget/images/Servo.png"),QString("RC Input/Output"));
qwd = new ConfigAirframeWidget();
qwd = new ConfigAirframeWidget(this);
ftw->insertTab(1, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
qwd = new ConfigTelemetryWidget();
qwd = new ConfigTelemetryWidget(this);
ftw->insertTab(2,qwd,QIcon(":/configgadget/images/XBee.svg"), QString("Telemetry"));
qwd = new ConfigAHRSWidget();
qwd = new ConfigAHRSWidget(this);
ftw->insertTab(3,qwd,QIcon(":/core/images/plugin.png"),QString("AHRS"));
// Listen to autopilot connection events
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
}
@ -72,4 +76,7 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
QWidget::resizeEvent(event);
}
void ConfigGadgetWidget::onAutopilotConnect() {
emit autopilotConnected();
}

7
ground/src/plugins/config/configgadgetwidget.h
View File

@ -27,6 +27,7 @@
#ifndef CONFIGGADGETWIDGET_H
#define CONFIGGADGETWIDGET_H
#include "uavtalk/telemetrymanager.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavobject.h"
@ -43,6 +44,12 @@ public:
ConfigGadgetWidget(QWidget *parent = 0);
~ConfigGadgetWidget();
public slots:
void onAutopilotConnect();
signals:
void autopilotConnected();
protected:
void resizeEvent(QResizeEvent * event);

4
ground/src/plugins/config/configservowidget.cpp
View File

@ -135,6 +135,10 @@ ConfigServoWidget::ConfigServoWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_config->ch6OutSlider, SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
connect(m_config->ch7OutSlider, SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));
firstUpdate = true;
}

5
ground/src/plugins/config/configtaskwidget.cpp
View File

@ -57,6 +57,11 @@ void ConfigTaskWidget::updateObjectPersistance(ObjectPersistence::OperationOptio
}
}
UAVObjectManager* ConfigTaskWidget::getObjectManager() {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
return pm->getObject<UAVObjectManager>();
}
/**
@}
@}

1
ground/src/plugins/config/configtaskwidget.h
View File

@ -43,6 +43,7 @@ public:
ConfigTaskWidget(QWidget *parent = 0);
~ConfigTaskWidget();
void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
UAVObjectManager* getObjectManager();
};

2
ground/src/plugins/config/configtelemetrywidget.cpp
View File

@ -53,6 +53,8 @@ ConfigTelemetryWidget::ConfigTelemetryWidget(QWidget *parent) : ConfigTaskWidget
connect(m_telemetry->saveTelemetryToRAM, SIGNAL(clicked()), this, SLOT(sendTelemetryUpdate()));
connect(m_telemetry->getTelemetryCurrent, SIGNAL(clicked()), this, SLOT(requestTelemetryUpdate()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestTelemetryUpdate()));
}
ConfigTelemetryWidget::~ConfigTelemetryWidget()

16
ground/src/plugins/config/images/ahrs-calib.svg
View File

@ -286,8 +286,8 @@
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="334.4393"
inkscape:zoom="2.8"
inkscape:cx="574.08216"
inkscape:cy="117.47189"
inkscape:document-units="px"
inkscape:current-layer="background"
@ -311,7 +311,7 @@
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
<dc:title />
<dc:creator>
<cc:Agent>
<dc:title>Edouard Lafargue</dc:title>
@ -330,16 +330,6 @@
id="background"
inkscape:label="#g8543"
transform="matrix(0,-0.72391486,1,0,-8.719326,711.5901)">
<rect
style="fill:#ffffff;fill-opacity:1;stroke:#ffffff;stroke-width:9.4025631;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
id="rect6737"
width="683.69995"
height="354.43222"
x="187.97757"
y="-563.36774"
transform="matrix(0,1,-1,0,0,0)"
rx="3.1741481"
ry="6.0569253" />
<rect
style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.70128155;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
id="rect2936"

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 23 KiB

After

Width:  |  Height:  |  Size: 23 KiB