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Code Issues Releases Activity

OP-935 Renames 'Camera stab' to 'Gimbal'. Adds functionality to store-clear and recall board rotation during calibration.

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This commit is contained in:
Fredrik Arvidsson 2013-05-12 11:27:12 +02:00
parent c7d42c876e
commit 3b7c274c78
4 changed files with 887 additions and 497 deletions
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2
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
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@ -104,7 +104,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off); icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off); icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
qwd = new ConfigCameraStabilizationWidget(this); qwd = new ConfigCameraStabilizationWidget(this);
ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Camera Stab")); ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
icon = new QIcon(); icon = new QIcon();
icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off); icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);

192
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -61,8 +61,7 @@ const double ConfigRevoWidget::maxVarValue = 0.1;
// ***************** // *****************
class Thread : public QThread class Thread : public QThread {
{
public: public:
static void usleep(unsigned long usecs) static void usleep(unsigned long usecs)
{ {
@ -74,9 +73,10 @@ public:
ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
ConfigTaskWidget(parent), ConfigTaskWidget(parent),
collectingData(false),
m_ui(new Ui_RevoSensorsWidget()), m_ui(new Ui_RevoSensorsWidget()),
position(-1) collectingData(false),
position(-1),
isBoardRotationStored(false)
{ {
m_ui->setupUi(this); m_ui->setupUi(this);
@ -214,6 +214,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
// will be dealing with some null pointers // will be dealing with some null pointers
addUAVObject("RevoCalibration"); addUAVObject("RevoCalibration");
addUAVObject("EKFConfiguration"); addUAVObject("EKFConfiguration");
addUAVObject("HomeLocation");
addUAVObject("AttitudeSettings");
autoLoadWidgets(); autoLoadWidgets();
// Connect the signals // Connect the signals
@ -222,10 +224,17 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData())); connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(m_ui->noiseMeasurementStart, SIGNAL(clicked()), this, SLOT(doStartNoiseMeasurement())); connect(m_ui->noiseMeasurementStart, SIGNAL(clicked()), this, SLOT(doStartNoiseMeasurement()));
connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation()));
addUAVObjectToWidgetRelation("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm); addUAVObjectToWidgetRelation("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm);
addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->rollRotation, AttitudeSettings::BOARDROTATION_ROLL);
addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->pitchRotation, AttitudeSettings::BOARDROTATION_PITCH);
addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW);
populateWidgets(); populateWidgets();
refreshWidgetsValues(); refreshWidgetsValues();
m_ui->tabWidget->setCurrentIndex(0);
} }
ConfigRevoWidget::~ConfigRevoWidget() ConfigRevoWidget::~ConfigRevoWidget()
@ -256,6 +265,10 @@ void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
*/ */
void ConfigRevoWidget::doStartAccelGyroBiasCalibration() void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
{ {
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
m_ui->accelBiasStart->setEnabled(false); m_ui->accelBiasStart->setEnabled(false);
m_ui->accelBiasProgress->setValue(0); m_ui->accelBiasProgress->setValue(0);
@ -312,6 +325,7 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj) void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
{ {
QMutexLocker lock(&sensorsUpdateLock); QMutexLocker lock(&sensorsUpdateLock);
Q_UNUSED(lock); Q_UNUSED(lock);
switch (obj->getObjID()) { switch (obj->getObjID()) {
@ -349,7 +363,6 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
if (accel_accum_x.size() >= NOISE_SAMPLES && if (accel_accum_x.size() >= NOISE_SAMPLES &&
gyro_accum_y.size() >= NOISE_SAMPLES && gyro_accum_y.size() >= NOISE_SAMPLES &&
collectingData == true) { collectingData == true) {
collectingData = false; collectingData = false;
Accels *accels = Accels::GetInstance(getObjectManager()); Accels *accels = Accels::GetInstance(getObjectManager());
@ -385,9 +398,11 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
accels->setMetadata(initialAccelsMdata); accels->setMetadata(initialAccelsMdata);
gyros->setMetadata(initialGyrosMdata); gyros->setMetadata(initialGyrosMdata);
}
}
// Recall saved board rotation
recallBoardRotation();
}
}
int LinearEquationsSolving(int nDim, double *pfMatr, double *pfVect, double *pfSolution) int LinearEquationsSolving(int nDim, double *pfMatr, double *pfVect, double *pfSolution)
@ -397,25 +412,20 @@ int LinearEquationsSolving(int nDim, double* pfMatr, double* pfVect, double* pfS
int i, j, k, m; int i, j, k, m;
for(k=0; k<(nDim-1); k++) // base row of matrix for (k = 0; k < (nDim - 1); k++) { // base row of matrix
{
// search of line with max element // search of line with max element
fMaxElem = fabs(pfMatr[k * nDim + k]); fMaxElem = fabs(pfMatr[k * nDim + k]);
m = k; m = k;
for(i=k+1; i<nDim; i++) for (i = k + 1; i < nDim; i++) {
{ if (fMaxElem < fabs(pfMatr[i * nDim + k])) {
if(fMaxElem < fabs(pfMatr[i*nDim + k]) )
{
fMaxElem = pfMatr[i * nDim + k]; fMaxElem = pfMatr[i * nDim + k];
m = i; m = i;
} }
} }
// permutation of base line (index k) and max element line(index m) // permutation of base line (index k) and max element line(index m)
if(m != k) if (m != k) {
{ for (i = k; i < nDim; i++) {
for(i=k; i<nDim; i++)
{
fAcc = pfMatr[k * nDim + i]; fAcc = pfMatr[k * nDim + i];
pfMatr[k * nDim + i] = pfMatr[m * nDim + i]; pfMatr[k * nDim + i] = pfMatr[m * nDim + i];
pfMatr[m * nDim + i] = fAcc; pfMatr[m * nDim + i] = fAcc;
@ -425,25 +435,22 @@ int LinearEquationsSolving(int nDim, double* pfMatr, double* pfVect, double* pfS
pfVect[m] = fAcc; pfVect[m] = fAcc;
} }
if( pfMatr[k*nDim + k] == 0.) return 0; // needs improvement !!! if (pfMatr[k * nDim + k] == 0.) {
return 0; // needs improvement !!!
}
// triangulation of matrix with coefficients // triangulation of matrix with coefficients
for(j=(k+1); j<nDim; j++) // current row of matrix for (j = (k + 1); j < nDim; j++) { // current row of matrix
{
fAcc = -pfMatr[j * nDim + k] / pfMatr[k * nDim + k]; fAcc = -pfMatr[j * nDim + k] / pfMatr[k * nDim + k];
for(i=k; i<nDim; i++) for (i = k; i < nDim; i++) {
{
pfMatr[j * nDim + i] = pfMatr[j * nDim + i] + fAcc * pfMatr[k * nDim + i]; pfMatr[j * nDim + i] = pfMatr[j * nDim + i] + fAcc * pfMatr[k * nDim + i];
} }
pfVect[j] = pfVect[j] + fAcc * pfVect[k]; // free member recalculation pfVect[j] = pfVect[j] + fAcc * pfVect[k]; // free member recalculation
} }
} }
for(k=(nDim-1); k>=0; k--) for (k = (nDim - 1); k >= 0; k--) {
{
pfSolution[k] = pfVect[k]; pfSolution[k] = pfVect[k];
for(i=(k+1); i<nDim; i++) for (i = (k + 1); i < nDim; i++) {
{
pfSolution[k] -= (pfMatr[k * nDim + i] * pfSolution[i]); pfSolution[k] -= (pfMatr[k * nDim + i] * pfSolution[i]);
} }
pfSolution[k] = pfSolution[k] / pfMatr[k * nDim + k]; pfSolution[k] = pfSolution[k] / pfMatr[k * nDim + k];
@ -475,7 +482,9 @@ int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z
} }
// solve for c0=bx/Sx, c1=Sy^2/Sx^2; c2=Sy*by/Sx^2, c3=Sz^2/Sx^2, c4=Sz*bz/Sx^2 // solve for c0=bx/Sx, c1=Sy^2/Sx^2; c2=Sy*by/Sx^2, c3=Sz^2/Sx^2, c4=Sz*bz/Sx^2
if ( !LinearEquationsSolving( 5, (double *)A, f, c) ) return 0; if (!LinearEquationsSolving(5, (double *)A, f, c)) {
return 0;
}
// use one magnitude equation and c's to find Sx - doesn't matter which - all give the same answer // use one magnitude equation and c's to find Sx - doesn't matter which - all give the same answer
xp = x[0]; yp = y[0]; zp = z[0]; xp = x[0]; yp = y[0]; zp = z[0];
@ -501,16 +510,20 @@ int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z
*/ */
void ConfigRevoWidget::doStartSixPointCalibration() void ConfigRevoWidget::doStartSixPointCalibration()
{ {
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration); Q_ASSERT(revoCalibration);
Q_ASSERT(homeLocation); Q_ASSERT(homeLocation);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
HomeLocation::DataFields homeLocationData = homeLocation->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData();
// check if Homelocation is set // check if Homelocation is set
if(!homeLocationData.Set) if (!homeLocationData.Set) {
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>")); msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>"));
msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setStandardButtons(QMessageBox::Ok);
@ -597,6 +610,7 @@ void ConfigRevoWidget::doStartSixPointCalibration()
void ConfigRevoWidget::savePositionData() void ConfigRevoWidget::savePositionData()
{ {
QMutexLocker lock(&sensorsUpdateLock); QMutexLocker lock(&sensorsUpdateLock);
m_ui->sixPointsSave->setEnabled(false); m_ui->sixPointsSave->setEnabled(false);
accel_accum_x.clear(); accel_accum_x.clear();
@ -709,6 +723,9 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
accels->setMetadata(initialAccelsMdata); accels->setMetadata(initialAccelsMdata);
#endif #endif
mag->setMetadata(initialMagMdata); mag->setMetadata(initialMagMdata);
// Recall saved board rotation
recallBoardRotation();
} }
} }
} }
@ -723,6 +740,7 @@ void ConfigRevoWidget::computeScaleBias()
double Be_length; double Be_length;
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration); Q_ASSERT(revoCalibration);
Q_ASSERT(homeLocation); Q_ASSERT(homeLocation);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
@ -791,7 +809,7 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData = revoCalibration->getData(); revoCalibrationData = revoCalibration->getData();
m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
} }
#else #else // ifdef SIX_POINT_CAL_ACCEL
bool good_calibration = true; bool good_calibration = true;
good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] == good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] ==
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X]; revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X];
@ -812,11 +830,47 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData = revoCalibration->getData(); revoCalibrationData = revoCalibration->getData();
m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
} }
#endif #endif // ifdef SIX_POINT_CAL_ACCEL
position = -1; // set to run again position = -1; // set to run again
} }
void ConfigRevoWidget::storeAndClearBoardRotation()
{
if(!isBoardRotationStored) {
// Store current board rotation
isBoardRotationStored = true;
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW] = data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW];
storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
// Set board rotation to no rotation
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettings->setData(data);
}
}
void ConfigRevoWidget::recallBoardRotation()
{
if(isBoardRotationStored) {
// Recall current board rotation
isBoardRotationStored = false;
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW];
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
attitudeSettings->setData(data);
}
}
/** /**
Rotate the paper plane Rotate the paper plane
*/ */
@ -825,7 +879,6 @@ void ConfigRevoWidget::displayPlane(QString elementID)
paperplane->setElementId(elementID); paperplane->setElementId(elementID);
m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect()); m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect());
m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio);
} }
/*********** Noise measurement functions **************/ /*********** Noise measurement functions **************/
@ -835,6 +888,11 @@ void ConfigRevoWidget::displayPlane(QString elementID)
void ConfigRevoWidget::doStartNoiseMeasurement() void ConfigRevoWidget::doStartNoiseMeasurement()
{ {
QMutexLocker lock(&sensorsUpdateLock); QMutexLocker lock(&sensorsUpdateLock);
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
Q_UNUSED(lock); Q_UNUSED(lock);
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
@ -845,8 +903,7 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
HomeLocation::DataFields homeLocationData = homeLocation->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData();
// check if Homelocation is set // check if Homelocation is set
if(!homeLocationData.Set) if (!homeLocationData.Set) {
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>")); msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>"));
msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setStandardButtons(QMessageBox::Ok);
@ -907,6 +964,7 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj) void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
{ {
QMutexLocker lock(&sensorsUpdateLock); QMutexLocker lock(&sensorsUpdateLock);
Q_UNUSED(lock); Q_UNUSED(lock);
Q_ASSERT(obj); Q_ASSERT(obj);
@ -982,6 +1040,9 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
revoCalData.R[EKFConfiguration::R_MAGZ] = listVar(mag_accum_z); revoCalData.R[EKFConfiguration::R_MAGZ] = listVar(mag_accum_z);
ekfConfiguration->setData(revoCalData); ekfConfiguration->setData(revoCalData);
} }
// Recall saved board rotation
recallBoardRotation();
} }
} }
@ -992,44 +1053,55 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
void ConfigRevoWidget::drawVariancesGraph() void ConfigRevoWidget::drawVariancesGraph()
{ {
EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager()); EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager());
Q_ASSERT(ekfConfiguration); Q_ASSERT(ekfConfiguration);
if(!ekfConfiguration) if (!ekfConfiguration) {
return; return;
}
EKFConfiguration::DataFields ekfConfigurationData = ekfConfiguration->getData(); EKFConfiguration::DataFields ekfConfigurationData = ekfConfiguration->getData();
// The expected range is from 1E-6 to 1E-1 // The expected range is from 1E-6 to 1E-1
double steps = 6; // 6 bars on the graph double steps = 6; // 6 bars on the graph
float accel_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELX])); float accel_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELX]));
if(accel_x) if (accel_x) {
accel_x->setTransform(QTransform::fromScale(1, accel_x_var), false); accel_x->setTransform(QTransform::fromScale(1, accel_x_var), false);
}
float accel_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELY])); float accel_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELY]));
if(accel_y) if (accel_y) {
accel_y->setTransform(QTransform::fromScale(1, accel_y_var), false); accel_y->setTransform(QTransform::fromScale(1, accel_y_var), false);
}
float accel_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELZ])); float accel_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELZ]));
if(accel_z) if (accel_z) {
accel_z->setTransform(QTransform::fromScale(1, accel_z_var), false); accel_z->setTransform(QTransform::fromScale(1, accel_z_var), false);
}
float gyro_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROX])); float gyro_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROX]));
if(gyro_x) if (gyro_x) {
gyro_x->setTransform(QTransform::fromScale(1, gyro_x_var), false); gyro_x->setTransform(QTransform::fromScale(1, gyro_x_var), false);
}
float gyro_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROY])); float gyro_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROY]));
if(gyro_y) if (gyro_y) {
gyro_y->setTransform(QTransform::fromScale(1, gyro_y_var), false); gyro_y->setTransform(QTransform::fromScale(1, gyro_y_var), false);
}
float gyro_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROZ])); float gyro_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROZ]));
if(gyro_z) if (gyro_z) {
gyro_z->setTransform(QTransform::fromScale(1, gyro_z_var), false); gyro_z->setTransform(QTransform::fromScale(1, gyro_z_var), false);
}
// Scale by 1e-3 because mag vars are much higher. // Scale by 1e-3 because mag vars are much higher.
float mag_x_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGX])); float mag_x_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGX]));
if(mag_x) if (mag_x) {
mag_x->setTransform(QTransform::fromScale(1, mag_x_var), false); mag_x->setTransform(QTransform::fromScale(1, mag_x_var), false);
}
float mag_y_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGY])); float mag_y_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGY]));
if(mag_y) if (mag_y) {
mag_y->setTransform(QTransform::fromScale(1, mag_y_var), false); mag_y->setTransform(QTransform::fromScale(1, mag_y_var), false);
}
float mag_z_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGZ])); float mag_z_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGZ]));
if(mag_z) if (mag_z) {
mag_z->setTransform(QTransform::fromScale(1, mag_z_var), false); mag_z->setTransform(QTransform::fromScale(1, mag_z_var), false);
} }
}
/** /**
* Called by the ConfigTaskWidget parent when RevoCalibration is updated * Called by the ConfigTaskWidget parent when RevoCalibration is updated
@ -1045,11 +1117,31 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
m_ui->sixPointsStart->setEnabled(true); m_ui->sixPointsStart->setEnabled(true);
m_ui->accelBiasStart->setEnabled(true); m_ui->accelBiasStart->setEnabled(true);
m_ui->startDriftCalib->setEnabled(true); m_ui->startDriftCalib->setEnabled(true);
m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate.")); m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
m_ui->isSetCheckBox->setEnabled(false);
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(homeLocation);
HomeLocation::DataFields homeLocationData = homeLocation->getData();
QString beStr = QString("%1:%2:%3").arg(QString::number(homeLocationData.Be[0]), QString::number(homeLocationData.Be[1]), QString::number(homeLocationData.Be[2]));
m_ui->beBox->setText(beStr);
} }
/** void ConfigRevoWidget::clearHomeLocation()
@} {
@} HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
*/
Q_ASSERT(homeLocation);
HomeLocation::DataFields homeLocationData;
homeLocationData.Latitude = 0;
homeLocationData.Longitude = 0;
homeLocationData.Altitude = 0;
homeLocationData.Be[0] = 0;
homeLocationData.Be[1] = 0;
homeLocationData.Be[2] = 0;
homeLocationData.g_e = 9.81f;
homeLocationData.Set = HomeLocation::SET_FALSE;
homeLocation->setData(homeLocationData);
}

14
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -43,8 +43,7 @@
class Ui_Widget; class Ui_Widget;
class ConfigRevoWidget: public ConfigTaskWidget class ConfigRevoWidget : public ConfigTaskWidget {
{
Q_OBJECT Q_OBJECT
public: public:
@ -101,6 +100,13 @@ private:
static const int NOISE_SAMPLES = 100; static const int NOISE_SAMPLES = 100;
// Board rotation store/recall
qint16 storedBoardRotation[3];
bool isBoardRotationStored;
void storeAndClearBoardRotation();
void recallBoardRotation();
private slots: private slots:
// ! Overriden method from the configTaskWidget to update UI // ! Overriden method from the configTaskWidget to update UI
virtual void refreshWidgetsValues(UAVObject *object = NULL); virtual void refreshWidgetsValues(UAVObject *object = NULL);
@ -118,10 +124,12 @@ private slots:
void doStartNoiseMeasurement(); void doStartNoiseMeasurement();
void doGetNoiseSample(UAVObject *); void doGetNoiseSample(UAVObject *);
// Slot for clearing home location
void clearHomeLocation();
protected: protected:
void showEvent(QShowEvent *event); void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event); void resizeEvent(QResizeEvent *event);
}; };
#endif // ConfigRevoWidget_H #endif // ConfigRevoWidget_H

406
ground/openpilotgcs/src/plugins/config/revosensors.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>720</width> <width>643</width>
<height>567</height> <height>531</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -16,8 +16,11 @@
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<item> <item>
<widget class="QTabWidget" name="tabWidget"> <widget class="QTabWidget" name="tabWidget">
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="tab_2"> <widget class="QWidget" name="tab_2">
<attribute name="title"> <attribute name="title">
@ -499,28 +502,275 @@ p, li { white-space: pre-wrap; }
<layout class="QVBoxLayout" name="verticalLayout_6"> <layout class="QVBoxLayout" name="verticalLayout_6">
<item> <item>
<layout class="QHBoxLayout" name="ahrsSettingsLayout"> <layout class="QHBoxLayout" name="ahrsSettingsLayout">
<item> <property name="margin">
<widget class="QLabel" name="label_2"> <number>6</number>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property> </property>
<property name="text">
<string>Attitude Algorithm:</string>
</property>
</widget>
</item>
<item> <item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Attitude Estimation Algorithm</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0" alignment="Qt::AlignTop">
<widget class="QComboBox" name="FusionAlgorithm"> <widget class="QComboBox" name="FusionAlgorithm">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Selects the sensor integration algorithm to be used by the Revolution board.</string> <string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item> <item>
<spacer name="horizontalSpacer_2"> <widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Home Location</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<item row="2" column="3">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Gravity acceleration:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Latitude:</string>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QLineEdit" name="geBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:HomeLocation</string>
<string>fieldname:g_e</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLineEdit" name="lattitudeBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:HomeLocation</string>
<string>fieldname:Latitude</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLineEdit" name="beBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Altitude:</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLineEdit" name="altitudeBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:HomeLocation</string>
<string>fieldname:Altitude</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Magnetic field vector:</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="6">
<widget class="QLabel" name="label_11">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This information must be set to enable calibration the Revolution controllers sensors. &lt;br/&gt;Set home location using context menu in the map widget.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLineEdit" name="longitudeBox">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:HomeLocation</string>
<string>fieldname:Longitude</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QCheckBox" name="isSetCheckBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Is Set</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:HomeLocation</string>
<string>fieldname:Set</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Longitude:</string>
</property>
</widget>
</item>
<item row="5" column="5" alignment="Qt::AlignRight">
<widget class="QPushButton" name="hlClearButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="4" column="5">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>Rotate virtual attitude relative to board</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollRotation">
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_9">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
</property> </property>
@ -532,71 +782,114 @@ p, li { white-space: pre-wrap; }
</property> </property>
</spacer> </spacer>
</item> </item>
<item> <item row="1" column="5">
<widget class="QLabel" name="label_4"> <widget class="QSpinBox" name="yawRotation">
<property name="font"> <property name="minimum">
<font> <number>-180</number>
<weight>75</weight>
<bold>true</bold>
</font>
</property> </property>
<property name="text"> <property name="maximum">
<string>Home Location:</string> <number>180</number>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item row="0" column="5">
<widget class="QRadioButton" name="homeLocationSet"> <widget class="QLabel" name="label_13">
<property name="enabled"> <property name="styleSheet">
<bool>false</bool> <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
</property> color: rgb(255, 255, 255);
<property name="toolTip"> border-radius: 5;
<string>Saves the Home Location. This is only enabled font: bold 12px;
if the Home Location is set, i.e. if the GPS fix is margin:1px;</string>
successful.
Disabled if there is no GPS fix.</string>
</property> </property>
<property name="text"> <property name="text">
<string>Set</string> <string>Yaw</string>
</property> </property>
<property name="checked"> <property name="alignment">
<bool>true</bool> <set>Qt::AlignCenter</set>
</property> </property>
<attribute name="buttonGroup">
<string notr="true">buttonGroup</string>
</attribute>
</widget> </widget>
</item> </item>
<item> <item row="1" column="2">
<widget class="QRadioButton" name="homeLocationClear"> <spacer name="horizontalSpacer_8">
<property name="enabled"> <property name="orientation">
<bool>true</bool> <enum>Qt::Horizontal</enum>
</property> </property>
<property name="toolTip"> <property name="sizeHint" stdset="0">
<string>Clears the HomeLocation: only makes sense if you save <size>
to SD. This will force the INS to use the next GPS fix as the <width>40</width>
new home location unless it is in indoor mode.</string> <height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_15">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Clear</string> <string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property> </property>
<attribute name="buttonGroup">
<string notr="true">buttonGroup</string>
</attribute>
</widget> </widget>
</item> </item>
<item row="1" column="3">
<widget class="QSpinBox" name="pitchRotation">
<property name="minimum">
<number>-90</number>
</property>
<property name="maximum">
<number>90</number>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="6">
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout> </layout>
</widget>
</item> </item>
<item> <item>
<spacer name="verticalSpacer"> <spacer name="verticalSpacer">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
</property> </property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>20</width> <width>20</width>
<height>40</height> <height>100</height>
</size> </size>
</property> </property>
</spacer> </spacer>
@ -716,7 +1009,4 @@ specific calibration button on top of the screen.</string>
<include location="../coreplugin/core.qrc"/> <include location="../coreplugin/core.qrc"/>
</resources> </resources>
<connections/> <connections/>
<buttongroups>
<buttongroup name="buttonGroup"/>
</buttongroups>
</ui> </ui>