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Code Issues Releases Activity

OP-716 Added default TauAccel == 0.15 to wizard.

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This commit is contained in:
Fredrik Arvidsson 2012-11-17 10:30:57 +01:00
parent 95455e2378
commit 2eeba593db
3 changed files with 18 additions and 13 deletions
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18
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
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@ -211,13 +211,6 @@ void ConfigCCAttitudeWidget::openHelp()
void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
{
AttitudeSettings* settings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(settings);
AttitudeSettings::DataFields data = settings->getData();
data.AccelTau = active ? DEFAULT_ENABLED_ACCEL_TAU : 0.0f;
settings->setData(data);
setDirty(true);
}
@ -226,6 +219,9 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
if(ui->zeroBias) {
ui->zeroBias->setEnabled(enable);
}
if(ui->zeroGyroBiasOnArming) {
ui->zeroGyroBiasOnArming->setEnabled(enable);
}
if(ui->accelFiltering) {
ui->accelFiltering->setEnabled(enable);
}
@ -244,6 +240,14 @@ void ConfigCCAttitudeWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
{
AttitudeSettings* settings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(settings);
AttitudeSettings::DataFields data = settings->getData();
data.AccelTau = ui->accelFiltering->isChecked() ? DEFAULT_ENABLED_ACCEL_TAU : 0.0f;
settings->setData(data);
ConfigTaskWidget::updateObjectsFromWidgets();
ui->zeroBiasProgress->setValue(0);

12
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -292,12 +292,12 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
void VehicleConfigurationHelper::applyLevellingConfiguration()
{
AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
if(m_configSource->isLevellingPerformed())
{
accelGyroBias bias = m_configSource->getLevellingBias();
AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
data.AccelBias[0] += bias.m_accelerometerXBias;
data.AccelBias[1] += bias.m_accelerometerYBias;
@ -305,10 +305,10 @@ void VehicleConfigurationHelper::applyLevellingConfiguration()
data.GyroBias[0] = -bias.m_gyroXBias;
data.GyroBias[1] = -bias.m_gyroYBias;
data.GyroBias[2] = -bias.m_gyroZBias;
attitudeSettings->setData(data);
addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
}
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
attitudeSettings->setData(data);
addModifiedObject(attitudeSettings, tr("Writing gyro and accelerometer bias settings"));
}
void VehicleConfigurationHelper::applyStabilizationConfiguration()

1
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h
View File

@ -68,6 +68,7 @@ private:
static const int MIXER_TYPE_DISABLED = 0;
static const int MIXER_TYPE_MOTOR = 1;
static const int MIXER_TYPE_SERVO = 2;
static const float DEFAULT_ENABLED_ACCEL_TAU = 0.15;
VehicleConfigurationSource *m_configSource;
UAVObjectManager *m_uavoManager;