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Code Issues Releases Activity

OP-38 Ground/Config gadget: AHRS indoor mode works, as well as Home Location saving.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1554 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-09-07 12:26:33 +00:00 committed by edouard
parent c2e93aa810
commit 0af3d26981
3 changed files with 146 additions and 54 deletions
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123
ground/src/plugins/config/ahrs.ui
View File

@ -75,7 +75,7 @@ Tip: lower is better!</string>
</rect>
</property>
<property name="toolTip">
<string>Press to start a calibration procedure, takes 30 seconds max.
<string>Press to start a calibration procedure, about 15 seconds.
Hint: run this with engines at cruising speed.</string>
</property>
@ -119,7 +119,9 @@ Hint: run this with engines at cruising speed.</string>
</rect>
</property>
<property name="toolTip">
<string>Select the sensor integration algorithm here.</string>
<string>Select the sensor integration algorithm here.
&quot;Simple&quot; only uses accelerometer values
&quot;INSGPS&quot; the full featured algorithm integrating all sensors</string>
</property>
</widget>
<widget class="QGraphicsView" name="sixPointsHelp">
@ -131,6 +133,9 @@ Hint: run this with engines at cruising speed.</string>
<height>151</height>
</rect>
</property>
<property name="toolTip">
<string>Nice paper plane, eh?</string>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
@ -157,6 +162,9 @@ Hint: run this with engines at cruising speed.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Launch a sensor range and bias calibration.</string>
</property>
<property name="text">
<string>Start</string>
</property>
@ -170,62 +178,35 @@ Hint: run this with engines at cruising speed.</string>
<height>121</height>
</rect>
</property>
<property name="toolTip">
<string>Six Point Calibration instructions</string>
</property>
</widget>
<widget class="QCheckBox" name="homeLocation">
<widget class="QPushButton" name="homeLocation">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>320</x>
<y>370</y>
<x>380</x>
<y>361</y>
<width>201</width>
<height>22</height>
<height>31</height>
</rect>
</property>
<property name="toolTip">
<string>Saves the Home Location. This is only enabled
if the Home Location is set, i.e. if the GPS fix is
successful.</string>
</property>
<property name="text">
<string>Save Home Location to SD</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsSettingsSaveRAM">
<property name="geometry">
<rect>
<x>430</x>
<y>430</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save settings to the OP board (RAM only).
This does not save the calibration settings, this is done using the
specific calibration button on top of the screen.</string>
</property>
<property name="text">
<string>Save to RAM</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsSettingsSaveSD">
<property name="geometry">
<rect>
<x>540</x>
<y>430</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Send settings to OP board, and save to the microSD card.</string>
</property>
<property name="text">
<string>Save to SD</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsSettingsRequest">
<property name="geometry">
<rect>
<x>320</x>
<x>260</x>
<y>430</y>
<width>93</width>
<height>27</height>
@ -242,7 +223,7 @@ specific calibration button on top of the screen.</string>
<property name="geometry">
<rect>
<x>120</x>
<y>350</y>
<y>340</y>
<width>411</width>
<height>20</height>
</rect>
@ -298,6 +279,9 @@ specific calibration button on top of the screen.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save settings (only enabled when calibration is running)</string>
</property>
<property name="text">
<string>Save Position</string>
</property>
@ -305,18 +289,69 @@ specific calibration button on top of the screen.</string>
<widget class="QCheckBox" name="indoorFlight">
<property name="geometry">
<rect>
<x>320</x>
<x>380</x>
<y>400</y>
<width>201</width>
<height>22</height>
</rect>
</property>
<property name="toolTip">
<string>Check this box if you are flying indoors and have no GPS fix.
Only makes sense with the &quot;INSGPS&quot; algorithm.</string>
</property>
<property name="text">
<string>Indoor flight mode</string>
</property>
</widget>
<widget class="QRadioButton" name="ahrsSettingsSaveRAM">
<property name="geometry">
<rect>
<x>390</x>
<y>430</y>
<width>111</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Save settings to the OP board (RAM only).
This does not save the calibration settings, this is done using the
specific calibration button on top of the screen.</string>
</property>
<property name="text">
<string>Save to RAM</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QRadioButton" name="ahrsSettingsSaveSD">
<property name="geometry">
<rect>
<x>520</x>
<y>430</y>
<width>101</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Send settings to OP board, and save to the microSD card.</string>
</property>
<property name="text">
<string>Save to SD</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
</widget>
</widget>
<resources/>
<connections/>
<buttongroups>
<buttongroup name="buttonGroup"/>
</buttongroups>
</ui>

69
ground/src/plugins/config/configahrswidget.cpp
View File

@ -181,12 +181,20 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->addItems(field->getOptions());
// Register for Home Location state changes
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(enableHomeLocSave(UAVObject*)));
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
connect(m_ahrs->homeLocation, SIGNAL(clicked()), this, SLOT(homeLocationSaveSD()));
/*
connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
*/
connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
@ -620,6 +628,11 @@ void ConfigAHRSWidget::drawVariancesGraph()
*/
void ConfigAHRSWidget::ahrsSettingsRequest()
{
// First of all, disconnect the autosave signals otherwise the GCS will save
// the settings as soon as it gets them, which is stupid
disconnect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
disconnect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
obj->requestUpdate();
UAVObjectField *field = obj->getField(QString("Algorithm"));
@ -629,38 +642,78 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
field = obj->getField(QString("Indoor"));
if (field)
m_ahrs->indoorFlight->setChecked(field->getValue().toBool());
field = obj->getField(QString("Set"));
if (field)
m_ahrs->homeLocation->setEnabled(field->getValue().toBool());
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->sixPointsStart->setEnabled(true);
m_ahrs->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
// ... and reconnect
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
}
/**
Enables/disables the Home Location saving button depending on whether the
home location is set-able
*/
void ConfigAHRSWidget::enableHomeLocSave(UAVObject * obj)
{
UAVObjectField *field = obj->getField(QString("Set"));
if (field)
m_ahrs->homeLocation->setEnabled(field->getValue().toBool());
// While we're at it, ensure the 'indoor' flag is consistent:
field = obj->getField(QString("Indoor"));
if (field)
m_ahrs->indoorFlight->setChecked(field->getValue().toBool());
}
/**
Save current settings to RAM (besides the Calibration data)
Save current settings to SD or RAM (depending on radio button)
*/
void ConfigAHRSWidget::ahrsSettingsSaveRAM()
void ConfigAHRSWidget::ahrsSettingsSave()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
field->setValue(m_ahrs->algorithm->currentText());
obj->updated();
if (m_ahrs->ahrsSettingsSaveSD->isChecked())
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Save Home Location settings to SD or RAM (depending on radio button)
*/
void ConfigAHRSWidget::homeLocationSave()
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
UAVObjectField *field = obj->getField(QString("Indoor"));
if (m_ahrs->indoorFlight->isChecked())
field->setValue(QString("TRUE"));
else
field->setValue(QString("FALSE"));
obj->updated();
if (m_ahrs->ahrsSettingsSaveSD->isChecked())
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Save current settings to SD (besides the Calibration data)
Force save Home Location settings to SD
*/
void ConfigAHRSWidget::ahrsSettingsSaveSD()
void ConfigAHRSWidget::homeLocationSaveSD()
{
ahrsSettingsSaveRAM();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
@}
@}

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

@ -50,6 +50,7 @@ public:
private:
void drawVariancesGraph();
void displayPlane(QString elementID);
Ui_AHRSWidget *m_ahrs;
QGraphicsSvgItem *paperplane;
QGraphicsSvgItem *ahrsbargraph;
@ -90,14 +91,17 @@ private:
QString initialUpdateFiltered;
double listMean(QList<double> list);
private slots:
void enableHomeLocSave(UAVObject *obj);
void launchAHRSCalibration();
void saveAHRSCalibration();
void calibPhase2();
void incrementProgress();
void ahrsSettingsRequest();
void ahrsSettingsSaveRAM();
void ahrsSettingsSaveSD();
void ahrsSettingsSave();
void homeLocationSave();
void homeLocationSaveSD(); // forces save to SD
void savePositionData();
void computeScaleBias();
void sixPointCalibrationMode();