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Code Issues Releases Activity

OP-1150 UI for thermal calibration: Zero gyro/accel calibration before acquisition

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This commit is contained in:
Alessio Morale 2014-01-27 00:25:16 +01:00
parent afb7ba7ea4
commit 159ba7f697
1 changed files with 24 additions and 0 deletions
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24
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
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@ -65,6 +65,20 @@ bool ThermalCalibrationHelper::setupBoardForCalibration()
Q_ASSERT(baroSensor); Q_ASSERT(baroSensor);
setMetadataForCalibration(baroSensor); setMetadataForCalibration(baroSensor);
// Clean up any gyro/accel correction before calibrating
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
AccelGyroSettings::DataFields data = accelGyroSettings->getData();
for(int i = 0; i < AccelGyroSettings::ACCEL_TEMP_COEFF_NUMELEM; i++){
data.accel_temp_coeff[i] = 0.0f;
}
for(int i = 0; i < AccelGyroSettings::GYRO_TEMP_COEFF_NUMELEM; i++){
data.gyro_temp_coeff[i] = 0.0f;
}
accelGyroSettings->setData(data);
// clean any correction before calibrating // clean any correction before calibrating
RevoSettings *revoSettings = RevoSettings::GetInstance(objManager); RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
Q_ASSERT(revoSettings); Q_ASSERT(revoSettings);
@ -102,6 +116,11 @@ bool ThermalCalibrationHelper::saveBoardInitialSettings()
Q_ASSERT(baroSensor); Q_ASSERT(baroSensor);
m_boardInitialSettings.baroensorMeta = baroSensor->getMetadata(); m_boardInitialSettings.baroensorMeta = baroSensor->getMetadata();
// accelGyroSettings data
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
m_boardInitialSettings.accelGyroSettings = accelGyroSettings->getData();
// revoSettings data // revoSettings data
RevoSettings *revoSettings = RevoSettings::GetInstance(objManager); RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
Q_ASSERT(revoSettings); Q_ASSERT(revoSettings);
@ -147,6 +166,11 @@ bool ThermalCalibrationHelper::restoreInitialSettings()
Q_ASSERT(baroSensor); Q_ASSERT(baroSensor);
baroSensor->setMetadata(m_boardInitialSettings.baroensorMeta); baroSensor->setMetadata(m_boardInitialSettings.baroensorMeta);
// AccelGyroSettings data
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
Q_ASSERT(accelGyroSettings);
accelGyroSettings->setData(m_boardInitialSettings.accelGyroSettings);
// revoSettings data // revoSettings data
RevoSettings *revoSettings = RevoSettings::GetInstance(objManager); RevoSettings *revoSettings = RevoSettings::GetInstance(objManager);
Q_ASSERT(revoSettings); Q_ASSERT(revoSettings);