rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

Merge branch 'thread/OP-816_Setup_Wizard_Revo_Support' into next

Browse Source
This commit is contained in:
Fredrik Arvidsson 2013-04-30 06:51:19 +02:00
commit 1eb04a378f
10 changed files with 138 additions and 109 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.cpp → ground/openpilotgcs/src/plugins/setupwizard/biascalibrationutil.cpp
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file cccalibrationutil.cpp
* @file biascalibrationutil.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup CCCalibrationUtil
* @addtogroup BiasCalibrationUtil
* @{
* @brief
*****************************************************************************/
@ -25,28 +25,29 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "cccalibrationutil.h"
#include "biascalibrationutil.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "attitudesettings.h"
#include "accels.h"
#include "gyros.h"
#include "qdebug.h"
CCCalibrationUtil::CCCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
BiasCalibrationUtil::BiasCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
{
}
CCCalibrationUtil::CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
BiasCalibrationUtil::BiasCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
{
}
void CCCalibrationUtil::start()
void BiasCalibrationUtil::start()
{
if(!m_isMeasuring) {
startMeasurement();
@ -58,17 +59,16 @@ void CCCalibrationUtil::start()
}
}
void CCCalibrationUtil::abort()
void BiasCalibrationUtil::abort()
{
if(m_isMeasuring) {
stopMeasurement();
}
}
void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
void BiasCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
{
Q_UNUSED(obj);
QMutexLocker locker(&m_measurementMutex);
if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -88,14 +88,12 @@ void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
stopMeasurement();
emit done(calculateLevellingData());
}
}
void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
void BiasCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
{
Q_UNUSED(obj);
QMutexLocker locker(&m_measurementMutex);
if(m_receivedAccelUpdates < m_accelMeasurementCount) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -115,22 +113,17 @@ void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
stopMeasurement();
emit done(calculateLevellingData());
}
}
void CCCalibrationUtil::timeout()
void BiasCalibrationUtil::timeout()
{
QMutexLocker locker(&m_measurementMutex);
stopMeasurement();
emit timeout(tr("Calibration timed out before receiving required updates."));
}
void CCCalibrationUtil::startMeasurement()
void BiasCalibrationUtil::startMeasurement()
{
QMutexLocker locker(&m_measurementMutex);
m_isMeasuring = true;
// Reset variables
@ -176,8 +169,10 @@ void CCCalibrationUtil::startMeasurement()
uavObject->setMetadata(newMetaData);
}
void CCCalibrationUtil::stopMeasurement()
void BiasCalibrationUtil::stopMeasurement()
{
qDebug() << "Sampling done, G =" << m_receivedGyroUpdates << "A =" << m_receivedAccelUpdates;
m_isMeasuring = false;
//Stop timeout timer
@ -202,18 +197,16 @@ void CCCalibrationUtil::stopMeasurement()
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
}
accelGyroBias CCCalibrationUtil::calculateLevellingData()
{
accelGyroBias bias;
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
bias.m_accelerometerZBias = (m_accelerometerZ / (double)m_receivedAccelUpdates + G) / ACCELERATION_SCALE;
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates;
bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates;
bias.m_accelerometerZBias = m_accelerometerZ / (double)m_receivedAccelUpdates;
bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates * 100.0;
bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates * 100.0;
bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates * 100.0;
return bias;
bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates;
bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates;
bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates;
qDebug() << "Bias calculations finished";
emit done(bias);
}

22
ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.h → ground/openpilotgcs/src/plugins/setupwizard/biascalibrationutil.h
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file cccalibrationutil.h
* @file biascalibrationutil.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup CCCalibrationUtil
* @addtogroup BiasCalibrationUtil
* @{
* @brief
*****************************************************************************/
@ -25,22 +25,21 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CCCALIBRATIONUTIL_H
#define CCCALIBRATIONUTIL_H
#ifndef BIASCALIBRATIONUTIL_H
#define BIASCALIBRATIONUTIL_H
#include <QObject>
#include <QTimer>
#include <QMutex>
#include "uavobject.h"
#include "vehicleconfigurationsource.h"
class CCCalibrationUtil : public QObject
class BiasCalibrationUtil : public QObject
{
Q_OBJECT
public:
explicit CCCalibrationUtil(long measurementCount, long measurementRate);
explicit CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
explicit BiasCalibrationUtil(long measurementCount, long measurementRate);
explicit BiasCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate);
signals:
@ -58,10 +57,6 @@ private slots:
void timeout();
private:
static const float G = 9.81f;
static const float ACCELERATION_SCALE = 0.004f * 9.81f;
QMutex m_measurementMutex;
QTimer m_timeoutTimer;
bool m_isMeasuring;
@ -86,7 +81,6 @@ private:
void stop();
void startMeasurement();
void stopMeasurement();
accelGyroBias calculateLevellingData();
};
#endif // CCCALIBRATIONUTIL_H
#endif // BIASCALIBRATIONUTIL_H

32
ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.cpp → ground/openpilotgcs/src/plugins/setupwizard/pages/biascalibrationpage.cpp
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file cccalibrationpage.cpp
* @file biascalibrationpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup CCCalibrationPage
* @addtogroup BiasCalibrationPage
* @{
* @brief
*****************************************************************************/
@ -27,19 +27,19 @@
#include <QMessageBox>
#include <QDebug>
#include "cccalibrationpage.h"
#include "ui_cccalibrationpage.h"
#include "biascalibrationpage.h"
#include "ui_biascalibrationpage.h"
#include "setupwizard.h"
CCCalibrationPage::CCCalibrationPage(SetupWizard *wizard, QWidget *parent) :
BiasCalibrationPage::BiasCalibrationPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::CCCalibrationPage), m_calibrationUtil(0)
ui(new Ui::BiasCalibrationPage), m_calibrationUtil(0)
{
ui->setupUi(this);
connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performCalibration()));
}
CCCalibrationPage::~CCCalibrationPage()
BiasCalibrationPage::~BiasCalibrationPage()
{
if(m_calibrationUtil) {
delete m_calibrationUtil;
@ -47,17 +47,17 @@ CCCalibrationPage::~CCCalibrationPage()
delete ui;
}
bool CCCalibrationPage::validatePage()
bool BiasCalibrationPage::validatePage()
{
return true;
}
bool CCCalibrationPage::isComplete() const
bool BiasCalibrationPage::isComplete() const
{
return ui->levelButton->isEnabled();
}
void CCCalibrationPage::enableButtons(bool enable)
void BiasCalibrationPage::enableButtons(bool enable)
{
ui->levelButton->setEnabled(enable);
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
@ -67,7 +67,7 @@ void CCCalibrationPage::enableButtons(bool enable)
QApplication::processEvents();
}
void CCCalibrationPage::performCalibration()
void BiasCalibrationPage::performCalibration()
{
if(!getWizard()->getConnectionManager()->isConnected()) {
QMessageBox msgBox;
@ -85,7 +85,7 @@ void CCCalibrationPage::performCalibration()
if(!m_calibrationUtil)
{
m_calibrationUtil = new CCCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
m_calibrationUtil = new BiasCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
}
connect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
@ -95,7 +95,7 @@ void CCCalibrationPage::performCalibration()
m_calibrationUtil->start();
}
void CCCalibrationPage::calibrationProgress(long current, long total)
void BiasCalibrationPage::calibrationProgress(long current, long total)
{
if(ui->levellinProgressBar->maximum() != (int)total) {
ui->levellinProgressBar->setMaximum((int)total);
@ -105,14 +105,14 @@ void CCCalibrationPage::calibrationProgress(long current, long total)
}
}
void CCCalibrationPage::calibrationDone(accelGyroBias bias)
void BiasCalibrationPage::calibrationDone(accelGyroBias bias)
{
stopCalibration();
getWizard()->setLevellingBias(bias);
emit completeChanged();
}
void CCCalibrationPage::calibrationTimeout(QString message)
void BiasCalibrationPage::calibrationTimeout(QString message)
{
stopCalibration();
@ -123,7 +123,7 @@ void CCCalibrationPage::calibrationTimeout(QString message)
msgBox.exec();
}
void CCCalibrationPage::stopCalibration()
void BiasCalibrationPage::stopCalibration()
{
if(m_calibrationUtil)
{

26
ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.h → ground/openpilotgcs/src/plugins/setupwizard/pages/biascalibrationpage.h
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file cccalibrationpage.h
* @file biascalibrationpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup CCCalibrationPage
* @addtogroup BiasCalibrationPage
* @{
* @brief
*****************************************************************************/
@ -25,23 +25,23 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CCCALIBRATIONPAGE_H
#define CCCALIBRATIONPAGE_H
#ifndef BIASCALIBRATIONPAGE_H
#define BIASCALIBRATIONPAGE_H
#include "abstractwizardpage.h"
#include "cccalibrationutil.h"
#include "biascalibrationutil.h"
namespace Ui {
class CCCalibrationPage;
class BiasCalibrationPage;
}
class CCCalibrationPage : public AbstractWizardPage
class BiasCalibrationPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit CCCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
~CCCalibrationPage();
explicit BiasCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
~BiasCalibrationPage();
bool validatePage();
bool isComplete() const;
@ -53,13 +53,13 @@ private slots:
private:
static const int BIAS_CYCLES = 200;
static const int BIAS_RATE = 30;
static const int BIAS_RATE = 50;
Ui::CCCalibrationPage *ui;
CCCalibrationUtil *m_calibrationUtil;
Ui::BiasCalibrationPage *ui;
BiasCalibrationUtil *m_calibrationUtil;
void stopCalibration();
void enableButtons(bool enable);
};
#endif // CCCALIBRATIONPAGE_H
#endif // BIASCALIBRATIONPAGE_H

4
ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui → ground/openpilotgcs/src/plugins/setupwizard/pages/biascalibrationpage.ui
View File

@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CCCalibrationPage</class>
<widget class="QWizardPage" name="CCCalibrationPage">
<class>BiasCalibrationPage</class>
<widget class="QWizardPage" name="BiasCalibrationPage">
<property name="geometry">
<rect>
<x>0</x>

15
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -36,7 +36,7 @@
#include "pages/surfacepage.h"
#include "pages/inputpage.h"
#include "pages/outputpage.h"
#include "pages/cccalibrationpage.h"
#include "pages/biascalibrationpage.h"
#include "pages/summarypage.h"
#include "pages/savepage.h"
#include "pages/notyetimplementedpage.h"
@ -118,10 +118,10 @@ int SetupWizard::nextId() const
return PAGE_VEHICLES;
case PAGE_OUTPUT:
return PAGE_SUMMARY;
case PAGE_CC_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
case PAGE_REVO_CALIBRATION:
case PAGE_BIAS_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
//case PAGE_REVO_CALIBRATION:
// return PAGE_OUTPUT_CALIBRATION;
case PAGE_OUTPUT_CALIBRATION:
return PAGE_SAVE;
case PAGE_SUMMARY:
@ -130,9 +130,8 @@ int SetupWizard::nextId() const
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_CC_CALIBRATION;
case CONTROLLER_REVO:
return PAGE_REVO_CALIBRATION;
return PAGE_BIAS_CALIBRATION;
default:
return PAGE_NOTYETIMPLEMENTED;
}
@ -289,8 +288,8 @@ void SetupWizard::createPages()
setPage(PAGE_SURFACE, new SurfacePage(this));
setPage(PAGE_INPUT, new InputPage(this));
setPage(PAGE_OUTPUT, new OutputPage(this));
setPage(PAGE_CC_CALIBRATION, new CCCalibrationPage(this));
setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
setPage(PAGE_BIAS_CALIBRATION, new BiasCalibrationPage(this));
//setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
setPage(PAGE_SUMMARY, new SummaryPage(this));
setPage(PAGE_SAVE, new SavePage(this));

4
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
View File

@ -29,7 +29,7 @@
#define SETUPWIZARD_H
#include <QWizard>
#include "cccalibrationutil.h"
#include "biascalibrationutil.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
#include "vehicleconfigurationsource.h"
@ -90,7 +90,7 @@ private slots:
void pageChanged(int currId);
private:
enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION,
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_BIAS_CALIBRATION,
PAGE_REVO_CALIBRATION, PAGE_OUTPUT_CALIBRATION, PAGE_SAVE, PAGE_SUMMARY,
PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
void createPages();

16
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
View File

@ -33,9 +33,9 @@ HEADERS += setupwizardplugin.h \
pages/rebootpage.h \
pages/savepage.h \
pages/autoupdatepage.h \
pages/cccalibrationpage.h \
cccalibrationutil.h \
pages/revocalibrationpage.h
pages/revocalibrationpage.h \
biascalibrationutil.h \
pages/biascalibrationpage.h
SOURCES += setupwizardplugin.cpp \
setupwizard.cpp \
@ -60,9 +60,9 @@ SOURCES += setupwizardplugin.cpp \
pages/rebootpage.cpp \
pages/savepage.cpp \
pages/autoupdatepage.cpp \
pages/cccalibrationpage.cpp \
cccalibrationutil.cpp \
pages/revocalibrationpage.cpp
pages/revocalibrationpage.cpp \
biascalibrationutil.cpp \
pages/biascalibrationpage.cpp
OTHER_FILES += SetupWizard.pluginspec
@ -84,8 +84,8 @@ FORMS += \
pages/rebootpage.ui \
pages/savepage.ui \
pages/autoupdatepage.ui \
pages/cccalibrationpage.ui \
pages/revocalibrationpage.ui
pages/revocalibrationpage.ui \
pages/biascalibrationpage.ui
RESOURCES += \
wizardResources.qrc

71
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -34,6 +34,7 @@
#include "systemsettings.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "revocalibration.h"
const qint16 VehicleConfigurationHelper::LEGACY_ESC_FREQUENCE = 50;
const qint16 VehicleConfigurationHelper::RAPID_ESC_FREQUENCE = 400;
@ -64,7 +65,11 @@ bool VehicleConfigurationHelper::setupVehicle(bool save)
applyVehicleConfiguration();
applyActuatorConfiguration();
applyFlighModeConfiguration();
applyLevellingConfiguration();
if(save) {
applySensorBiasConfiguration();
}
applyStabilizationConfiguration();
applyManualControlDefaults();
@ -327,25 +332,63 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
addModifiedObject(controlSettings, tr("Writing flight mode settings"));
}
void VehicleConfigurationHelper::applyLevellingConfiguration()
void VehicleConfigurationHelper::applySensorBiasConfiguration()
{
AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
if(m_configSource->isCalibrationPerformed())
{
accelGyroBias bias = m_configSource->getCalibrationBias();
float G = 9.81f;
data.AccelBias[0] += bias.m_accelerometerXBias;
data.AccelBias[1] += bias.m_accelerometerYBias;
data.AccelBias[2] += bias.m_accelerometerZBias;
data.GyroBias[0] = -bias.m_gyroXBias;
data.GyroBias[1] = -bias.m_gyroYBias;
data.GyroBias[2] = -bias.m_gyroZBias;
switch(m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
{
const float ACCELERATION_SCALE = 0.004f * G;
const float GYRO_SCALE = 100.0f;
AttitudeSettings* copterControlCalibration = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(copterControlCalibration);
AttitudeSettings::DataFields data = copterControlCalibration->getData();
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
data.AccelBias[AttitudeSettings::ACCELBIAS_X] += bias.m_accelerometerXBias / ACCELERATION_SCALE;
data.AccelBias[AttitudeSettings::ACCELBIAS_Y] += bias.m_accelerometerYBias / ACCELERATION_SCALE;
data.AccelBias[AttitudeSettings::ACCELBIAS_Z] += (bias.m_accelerometerZBias + G) / ACCELERATION_SCALE;
data.GyroBias[AttitudeSettings::GYROBIAS_X] = -(bias.m_gyroXBias * GYRO_SCALE);
data.GyroBias[AttitudeSettings::GYROBIAS_Y] = -(bias.m_gyroYBias * GYRO_SCALE);
data.GyroBias[AttitudeSettings::GYROBIAS_Z] = -(bias.m_gyroZBias * GYRO_SCALE);
copterControlCalibration->setData(data);
addModifiedObject(copterControlCalibration, tr("Writing gyro and accelerometer bias settings"));
break;
}
case VehicleConfigurationSource::CONTROLLER_REVO:
{
RevoCalibration* revolutionCalibration = RevoCalibration::GetInstance(m_uavoManager);
Q_ASSERT(revolutionCalibration);
RevoCalibration::DataFields data = revolutionCalibration->getData();
data.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
data.accel_bias[RevoCalibration::ACCEL_BIAS_X] += bias.m_accelerometerXBias;
data.accel_bias[RevoCalibration::ACCEL_BIAS_Y] += bias.m_accelerometerYBias;
data.accel_bias[RevoCalibration::ACCEL_BIAS_Z] += bias.m_accelerometerZBias + G;
data.gyro_bias[RevoCalibration::GYRO_BIAS_X] = bias.m_gyroXBias;
data.gyro_bias[RevoCalibration::GYRO_BIAS_Y] = bias.m_gyroYBias;
data.gyro_bias[RevoCalibration::GYRO_BIAS_Z] = bias.m_gyroZBias;
revolutionCalibration->setData(data);
addModifiedObject(revolutionCalibration, tr("Writing gyro and accelerometer bias settings"));
break;
}
default:
//Something went terribly wrong.
break;
}
}
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
attitudeSettings->setData(data);
addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
}
void VehicleConfigurationHelper::applyStabilizationConfiguration()

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -81,7 +81,7 @@ private:
void applyVehicleConfiguration();
void applyActuatorConfiguration();
void applyFlighModeConfiguration();
void applyLevellingConfiguration();
void applySensorBiasConfiguration();
void applyStabilizationConfiguration();
void applyManualControlDefaults();