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Code Issues Releases Activity

OP-38 Further work on AHRS calibration UI.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1401 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-08-24 23:33:25 +00:00 committed by edouard
parent 84d82f7ac7
commit 36e086f40e
5 changed files with 963 additions and 41 deletions
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256
ground/src/plugins/config/ahrs.ui
View File

@ -17,9 +17,9 @@
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>411</width>
<height>321</height>
<y>9</y>
<width>641</width>
<height>461</height>
</rect>
</property>
<property name="frameShape">
@ -28,73 +28,247 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<widget class="QTextBrowser" name="textBrowser">
<widget class="QGraphicsView" name="ahrsBargraph">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>361</width>
<height>151</height>
<width>341</width>
<height>141</height>
</rect>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This panel will be where you setup your AHRS. For now it is just a placeholder, please be patient!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
<widget class="QPushButton" name="saveTelemetryToRAM">
<widget class="QLabel" name="calibInstructions">
<property name="geometry">
<rect>
<x>190</x>
<y>280</y>
<x>390</x>
<y>90</y>
<width>301</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Instructions......................</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsCalibStart">
<property name="geometry">
<rect>
<x>400</x>
<y>30</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Send to OpenPilot but don't write in SD.
Beware of not locking yourself out!</string>
<property name="text">
<string>Start</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>540</x>
<y>30</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Cancel</string>
</property>
</widget>
<widget class="Line" name="line">
<property name="geometry">
<rect>
<x>127</x>
<y>150</y>
<width>411</width>
<height>20</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>10</x>
<y>180</y>
<width>111</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>AHRS Algorithm:</string>
</property>
</widget>
<widget class="QComboBox" name="algorithm">
<property name="geometry">
<rect>
<x>140</x>
<y>170</y>
<width>131</width>
<height>31</height>
</rect>
</property>
</widget>
<widget class="Line" name="line_2">
<property name="geometry">
<rect>
<x>130</x>
<y>220</y>
<width>411</width>
<height>20</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="QGraphicsView" name="graphicsView_2">
<property name="geometry">
<rect>
<x>10</x>
<y>260</y>
<width>191</width>
<height>151</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>40</x>
<y>240</y>
<width>121</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Calibration #2</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_4">
<property name="geometry">
<rect>
<x>230</x>
<y>270</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_5">
<property name="geometry">
<rect>
<x>230</x>
<y>320</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_6">
<property name="geometry">
<rect>
<x>230</x>
<y>370</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QTextBrowser" name="textBrowser">
<property name="geometry">
<rect>
<x>360</x>
<y>250</y>
<width>271</width>
<height>161</height>
</rect>
</property>
</widget>
<widget class="QCheckBox" name="checkBox">
<property name="geometry">
<rect>
<x>290</x>
<y>180</y>
<width>201</width>
<height>22</height>
</rect>
</property>
<property name="text">
<string>Save Home Location to SD</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_3">
<property name="geometry">
<rect>
<x>430</x>
<y>430</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Save to RAM</string>
</property>
</widget>
<widget class="QPushButton" name="getTelemetryCurrent">
<widget class="QPushButton" name="pushButton_7">
<property name="geometry">
<rect>
<x>80</x>
<y>280</y>
<x>540</x>
<y>430</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Retrieve settings from OpenPilot</string>
</property>
<property name="text">
<string>Get Current</string>
</property>
</widget>
<widget class="QPushButton" name="saveTelemetryToSD">
<property name="geometry">
<rect>
<x>300</x>
<y>280</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Applies and Saves all settings to SD.
Beware of not locking yourself out!</string>
</property>
<property name="text">
<string>Save to SD</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_8">
<property name="geometry">
<rect>
<x>320</x>
<y>430</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Request</string>
</property>
</widget>
<widget class="Line" name="line_3">
<property name="geometry">
<rect>
<x>120</x>
<y>410</y>
<width>411</width>
<height>20</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</widget>
</widget>
<resources/>

103
ground/src/plugins/config/configahrswidget.cpp
View File

@ -27,6 +27,7 @@
#include "configahrswidget.h"
#include <QDebug>
#include <QTimer>
#include <QStringList>
#include <QtGui/QWidget>
#include <QtGui/QTextEdit>
@ -41,6 +42,70 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ahrs->setupUi(this);
m_ahrs->ahrsBargraph->setScene(new QGraphicsScene(this));
QSvgRenderer *renderer = new QSvgRenderer();
ahrsbargraph = new QGraphicsSvgItem();
renderer->load(QString(":/configgadget/images/ahrs-calib.svg"));
ahrsbargraph->setSharedRenderer(renderer);
ahrsbargraph->setElementId("background");
ahrsbargraph->setObjectName("background");
m_ahrs->ahrsBargraph->scene()->addItem(ahrsbargraph);
m_ahrs->ahrsBargraph->setSceneRect(ahrsbargraph->boundingRect());
// Initialize the 9 bargraph values:
QMatrix lineMatrix = renderer->matrixForElement("accel_x");
qreal startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).x();
qreal startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).y();
// Then once we have the initial location, we can put it
// into a QGraphicsSvgItem which we will display at the same
// place: we do this so that the heading scale can be clipped to
// the compass dial region.
accel_x = new QGraphicsSvgItem();
accel_x->setSharedRenderer(renderer);
accel_x->setElementId("accel_x");
m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
QTransform matrix;
matrix.translate(startX,startY);
accel_x->setTransform(matrix,false);
lineMatrix = renderer->matrixForElement("accel_y");
startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).x();
startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).y();
accel_y = new QGraphicsSvgItem();
accel_y->setSharedRenderer(renderer);
accel_y->setElementId("accel_y");
m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
matrix.reset();
matrix.translate(startX,startY);
accel_y->setTransform(matrix,false);
lineMatrix = renderer->matrixForElement("accel_z");
startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).x();
startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).y();
accel_z = new QGraphicsSvgItem();
accel_z->setSharedRenderer(renderer);
accel_z->setElementId("accel_z");
m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
matrix.reset();
matrix.translate(startX,startY);
accel_z->setTransform(matrix,false);
// Fill the dropdown menus:
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->addItems(field->getOptions());
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
}
ConfigAHRSWidget::~ConfigAHRSWidget()
@ -49,4 +114,42 @@ ConfigAHRSWidget::~ConfigAHRSWidget()
}
void ConfigAHRSWidget::showEvent(QShowEvent *event)
{
m_ahrs->ahrsBargraph->fitInView(ahrsbargraph, Qt::KeepAspectRatio);
}
/**
Launches the AHRS sensors calibration
*/
void ConfigAHRSWidget::launchAHRSCalibration()
{
m_ahrs->calibInstructions->setText("Calibration launched...");
m_ahrs->ahrsCalibStart->setEnabled(false);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->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()));
}
void ConfigAHRSWidget::calibPhase2()
{
m_ahrs->calibInstructions->setText("Confirming settings...");
// Now update size of all the graphs in log scale
// 'log(1/val)'
m_ahrs->ahrsCalibStart->setEnabled(true);
}

12
ground/src/plugins/config/configahrswidget.h
View File

@ -33,6 +33,8 @@
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavobject.h"
#include <QtGui/QWidget>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QList>
@ -46,8 +48,18 @@ public:
private:
Ui_AHRSWidget *m_ahrs;
QGraphicsSvgItem *ahrsbargraph;
QGraphicsSvgItem *accel_x;
QGraphicsSvgItem *accel_y;
QGraphicsSvgItem *accel_z;
private slots:
void launchAHRSCalibration();
void calibPhase2();
protected:
void showEvent(QShowEvent *event);
};

1
ground/src/plugins/config/configgadget.qrc
View File

@ -3,5 +3,6 @@
<file>images/XBee.svg</file>
<file>images/Airframe.png</file>
<file>images/Servo.png</file>
<file>images/ahrs-calib.svg</file>
</qresource>
</RCC>

632
ground/src/plugins/config/images/ahrs-calib.svg Normal file
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@ -0,0 +1,632 @@
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