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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
View File

@ -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_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);

490
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:
static void usleep(unsigned long usecs)
{
@ -74,9 +73,10 @@ public:
ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
ConfigTaskWidget(parent),
collectingData(false),
m_ui(new Ui_RevoSensorsWidget()),
position(-1)
collectingData(false),
position(-1),
isBoardRotationStored(false)
{
m_ui->setupUi(this);
@ -107,7 +107,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
QMatrix lineMatrix = renderer->matrixForElement("accel_x");
QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
qreal startX = rect.x();
qreal startY = rect.y()+ rect.height();
qreal startY = rect.y() + rect.height();
// maxBarHeight will be used for scaling it later.
maxBarHeight = rect.height();
// Then once we have the initial location, we can put it
@ -119,101 +119,103 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
accel_x->setElementId("accel_x");
m_ui->sensorsBargraph->scene()->addItem(accel_x);
accel_x->setPos(startX, startY);
accel_x->setTransform(QTransform::fromScale(1,0),true);
accel_x->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("accel_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
accel_y = new QGraphicsSvgItem();
accel_y->setSharedRenderer(renderer);
accel_y->setElementId("accel_y");
m_ui->sensorsBargraph->scene()->addItem(accel_y);
accel_y->setPos(startX,startY);
accel_y->setTransform(QTransform::fromScale(1,0),true);
accel_y->setPos(startX, startY);
accel_y->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("accel_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
accel_z = new QGraphicsSvgItem();
accel_z->setSharedRenderer(renderer);
accel_z->setElementId("accel_z");
m_ui->sensorsBargraph->scene()->addItem(accel_z);
accel_z->setPos(startX,startY);
accel_z->setTransform(QTransform::fromScale(1,0),true);
accel_z->setPos(startX, startY);
accel_z->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("gyro_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
gyro_x = new QGraphicsSvgItem();
gyro_x->setSharedRenderer(renderer);
gyro_x->setElementId("gyro_x");
m_ui->sensorsBargraph->scene()->addItem(gyro_x);
gyro_x->setPos(startX,startY);
gyro_x->setTransform(QTransform::fromScale(1,0),true);
gyro_x->setPos(startX, startY);
gyro_x->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("gyro_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
gyro_y = new QGraphicsSvgItem();
gyro_y->setSharedRenderer(renderer);
gyro_y->setElementId("gyro_y");
m_ui->sensorsBargraph->scene()->addItem(gyro_y);
gyro_y->setPos(startX,startY);
gyro_y->setTransform(QTransform::fromScale(1,0),true);
gyro_y->setPos(startX, startY);
gyro_y->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("gyro_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
gyro_z = new QGraphicsSvgItem();
gyro_z->setSharedRenderer(renderer);
gyro_z->setElementId("gyro_z");
m_ui->sensorsBargraph->scene()->addItem(gyro_z);
gyro_z->setPos(startX,startY);
gyro_z->setTransform(QTransform::fromScale(1,0),true);
gyro_z->setPos(startX, startY);
gyro_z->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("mag_x");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
mag_x = new QGraphicsSvgItem();
mag_x->setSharedRenderer(renderer);
mag_x->setElementId("mag_x");
m_ui->sensorsBargraph->scene()->addItem(mag_x);
mag_x->setPos(startX,startY);
mag_x->setTransform(QTransform::fromScale(1,0),true);
mag_x->setPos(startX, startY);
mag_x->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("mag_y");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
mag_y = new QGraphicsSvgItem();
mag_y->setSharedRenderer(renderer);
mag_y->setElementId("mag_y");
m_ui->sensorsBargraph->scene()->addItem(mag_y);
mag_y->setPos(startX,startY);
mag_y->setTransform(QTransform::fromScale(1,0),true);
mag_y->setPos(startX, startY);
mag_y->setTransform(QTransform::fromScale(1, 0), true);
lineMatrix = renderer->matrixForElement("mag_z");
rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
startX = rect.x();
startY = rect.y()+ rect.height();
startY = rect.y() + rect.height();
mag_z = new QGraphicsSvgItem();
mag_z->setSharedRenderer(renderer);
mag_z->setElementId("mag_z");
m_ui->sensorsBargraph->scene()->addItem(mag_z);
mag_z->setPos(startX,startY);
mag_z->setTransform(QTransform::fromScale(1,0),true);
mag_z->setPos(startX, startY);
mag_z->setTransform(QTransform::fromScale(1, 0), true);
// Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues
// will be dealing with some null pointers
addUAVObject("RevoCalibration");
addUAVObject("EKFConfiguration");
addUAVObject("HomeLocation");
addUAVObject("AttitudeSettings");
autoLoadWidgets();
// Connect the signals
@ -222,10 +224,17 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
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("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();
refreshWidgetsValues();
m_ui->tabWidget->setCurrentIndex(0);
}
ConfigRevoWidget::~ConfigRevoWidget()
@ -241,14 +250,14 @@ void ConfigRevoWidget::showEvent(QShowEvent *event)
// widget is shown, otherwise it cannot compute its values and
// the result is usually a sensorsBargraph that is way too small.
m_ui->sensorsBargraph->fitInView(sensorsBargraph, Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio);
}
void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event)
m_ui->sensorsBargraph->fitInView(sensorsBargraph, Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio);
}
/**
@ -256,10 +265,14 @@ void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
*/
void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
{
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
m_ui->accelBiasStart->setEnabled(false);
m_ui->accelBiasProgress->setValue(0);
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
@ -267,7 +280,7 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
revoCalibration->updated();
// Disable gyro bias correction while calibrating
AttitudeSettings * attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
@ -284,7 +297,7 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
UAVObject::Metadata mdata;
/* Need to get as many accel updates as possible */
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
initialAccelsMdata = accels->getMetadata();
mdata = initialAccelsMdata;
@ -292,7 +305,7 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
mdata.flightTelemetryUpdatePeriod = 100;
accels->setMetadata(mdata);
Gyros * gyros = Gyros::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
Q_ASSERT(gyros);
initialGyrosMdata = gyros->getMetadata();
mdata = initialGyrosMdata;
@ -302,8 +315,8 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
// Now connect to the accels and mag updates, gather for 100 samples
collectingData = true;
connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetAccelGyroBiasData(UAVObject*)));
connect(gyros, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetAccelGyroBiasData(UAVObject*)));
connect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *)));
connect(gyros, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *)));
}
/**
@ -312,12 +325,13 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration()
void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
{
QMutexLocker lock(&sensorsUpdateLock);
Q_UNUSED(lock);
switch(obj->getObjID()) {
switch (obj->getObjID()) {
case Accels::OBJID:
{
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
Accels::DataFields accelsData = accels->getData();
@ -328,7 +342,7 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
}
case Gyros::OBJID:
{
Gyros * gyros = Gyros::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
Q_ASSERT(gyros);
Gyros::DataFields gyrosData = gyros->getData();
@ -342,25 +356,24 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
}
// Work out the progress based on whichever has less
double p1 = (double) accel_accum_x.size() / (double) NOISE_SAMPLES;
double p2 = (double) accel_accum_y.size() / (double) NOISE_SAMPLES;
double p1 = (double)accel_accum_x.size() / (double)NOISE_SAMPLES;
double p2 = (double)accel_accum_y.size() / (double)NOISE_SAMPLES;
m_ui->accelBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 100);
if(accel_accum_x.size() >= NOISE_SAMPLES &&
if (accel_accum_x.size() >= NOISE_SAMPLES &&
gyro_accum_y.size() >= NOISE_SAMPLES &&
collectingData == true) {
collectingData = false;
Accels * accels = Accels::GetInstance(getObjectManager());
Gyros * gyros = Gyros::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetAccelGyroBiasData(UAVObject*)));
disconnect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetAccelGyroBiasData(UAVObject*)));
disconnect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *)));
disconnect(gyros, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *)));
m_ui->accelBiasStart->setEnabled(true);
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
@ -368,7 +381,7 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
// Update the biases based on collected data
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] += listMean(accel_accum_x);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] += listMean(accel_accum_y);
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] += ( listMean(accel_accum_z) + GRAVITY );
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] += (listMean(accel_accum_z) + GRAVITY);
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_X] += listMean(gyro_accum_x);
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_Y] += listMean(gyro_accum_y);
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_Z] += listMean(gyro_accum_z);
@ -376,7 +389,7 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
revoCalibration->setData(revoCalibrationData);
revoCalibration->updated();
AttitudeSettings * attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
@ -385,75 +398,69 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
accels->setMetadata(initialAccelsMdata);
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)
{
double fMaxElem;
double fAcc;
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
fMaxElem = fabs( pfMatr[k*nDim + k] );
fMaxElem = fabs(pfMatr[k * nDim + k]);
m = k;
for(i=k+1; i<nDim; i++)
{
if(fMaxElem < fabs(pfMatr[i*nDim + k]) )
{
fMaxElem = pfMatr[i*nDim + k];
for (i = k + 1; i < nDim; i++) {
if (fMaxElem < fabs(pfMatr[i * nDim + k])) {
fMaxElem = pfMatr[i * nDim + k];
m = i;
}
}
// permutation of base line (index k) and max element line(index m)
if(m != k)
{
for(i=k; i<nDim; i++)
{
fAcc = pfMatr[k*nDim + i];
pfMatr[k*nDim + i] = pfMatr[m*nDim + i];
pfMatr[m*nDim + i] = fAcc;
if (m != k) {
for (i = k; i < nDim; i++) {
fAcc = pfMatr[k * nDim + i];
pfMatr[k * nDim + i] = pfMatr[m * nDim + i];
pfMatr[m * nDim + i] = fAcc;
}
fAcc = pfVect[k];
pfVect[k] = pfVect[m];
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
for(j=(k+1); j<nDim; j++) // current row of matrix
{
fAcc = - pfMatr[j*nDim + k] / pfMatr[k*nDim + k];
for(i=k; i<nDim; i++)
{
pfMatr[j*nDim + i] = pfMatr[j*nDim + i] + fAcc*pfMatr[k*nDim + i];
for (j = (k + 1); j < nDim; j++) { // current row of matrix
fAcc = -pfMatr[j * nDim + k] / pfMatr[k * nDim + k];
for (i = k; i < 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];
for(i=(k+1); i<nDim; i++)
{
pfSolution[k] -= (pfMatr[k*nDim + i]*pfSolution[i]);
for (i = (k + 1); i < nDim; 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];
}
return 1;
}
int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3] )
int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3])
{
int i;
double A[5][5];
@ -465,28 +472,30 @@ int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z
// Sx^2(x2^2-x1^2) + 2*Sx*bx*(x2-x1) + Sy^2(y2^2-y1^2) + 2*Sy*by*(y2-y1) + Sz^2(z2^2-z1^2) + 2*Sz*bz*(z2-z1) = 0
// or in other words
// 2*Sx*bx*(x2-x1)/Sx^2 + Sy^2(y2^2-y1^2)/Sx^2 + 2*Sy*by*(y2-y1)/Sx^2 + Sz^2(z2^2-z1^2)/Sx^2 + 2*Sz*bz*(z2-z1)/Sx^2 = (x1^2-x2^2)
for (i=0;i<5;i++){
A[i][0] = 2.0 * (x[i+1] - x[i]);
A[i][1] = y[i+1]*y[i+1] - y[i]*y[i];
A[i][2] = 2.0 * (y[i+1] - y[i]);
A[i][3] = z[i+1]*z[i+1] - z[i]*z[i];
A[i][4] = 2.0 * (z[i+1] - z[i]);
f[i] = x[i]*x[i] - x[i+1]*x[i+1];
for (i = 0; i < 5; i++) {
A[i][0] = 2.0 * (x[i + 1] - x[i]);
A[i][1] = y[i + 1] * y[i + 1] - y[i] * y[i];
A[i][2] = 2.0 * (y[i + 1] - y[i]);
A[i][3] = z[i + 1] * z[i + 1] - z[i] * z[i];
A[i][4] = 2.0 * (z[i + 1] - z[i]);
f[i] = x[i] * x[i] - x[i + 1] * x[i + 1];
}
// 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
xp = x[0]; yp = y[0]; zp = z[0];
Sx = sqrt(ConstMag*ConstMag / (xp*xp + 2*c[0]*xp + c[0]*c[0] + c[1]*yp*yp + 2*c[2]*yp + c[2]*c[2]/c[1] + c[3]*zp*zp + 2*c[4]*zp + c[4]*c[4]/c[3]));
Sx = sqrt(ConstMag * ConstMag / (xp * xp + 2 * c[0] * xp + c[0] * c[0] + c[1] * yp * yp + 2 * c[2] * yp + c[2] * c[2] / c[1] + c[3] * zp * zp + 2 * c[4] * zp + c[4] * c[4] / c[3]));
S[0] = Sx;
b[0] = Sx*c[0];
S[1] = sqrt(c[1]*Sx*Sx);
b[1] = c[2]*Sx*Sx/S[1];
S[2] = sqrt(c[3]*Sx*Sx);
b[2] = c[4]*Sx*Sx/S[2];
b[0] = Sx * c[0];
S[1] = sqrt(c[1] * Sx * Sx);
b[1] = c[2] * Sx * Sx / S[1];
S[2] = sqrt(c[3] * Sx * Sx);
b[2] = c[4] * Sx * Sx / S[2];
return 1;
}
@ -501,16 +510,20 @@ int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z
*/
void ConfigRevoWidget::doStartSixPointCalibration()
{
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation * homeLocation = HomeLocation::GetInstance(getObjectManager());
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
Q_ASSERT(homeLocation);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
HomeLocation::DataFields homeLocationData = homeLocation->getData();
//check if Homelocation is set
if(!homeLocationData.Set)
{
// check if Homelocation is set
if (!homeLocationData.Set) {
QMessageBox msgBox;
msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>"));
msgBox.setStandardButtons(QMessageBox::Ok);
@ -561,7 +574,7 @@ void ConfigRevoWidget::doStartSixPointCalibration()
#ifdef SIX_POINT_CAL_ACCEL
/* Need to get as many accel updates as possible */
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
initialAccelsMdata = accels->getMetadata();
@ -572,7 +585,7 @@ void ConfigRevoWidget::doStartSixPointCalibration()
#endif
/* Need to get as many mag updates as possible */
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Magnetometer *mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
initialMagMdata = mag->getMetadata();
mdata = initialMagMdata;
@ -597,6 +610,7 @@ void ConfigRevoWidget::doStartSixPointCalibration()
void ConfigRevoWidget::savePositionData()
{
QMutexLocker lock(&sensorsUpdateLock);
m_ui->sixPointsSave->setEnabled(false);
accel_accum_x.clear();
@ -608,13 +622,13 @@ void ConfigRevoWidget::savePositionData()
collectingData = true;
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Magnetometer *mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
connect(mag, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
connect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
m_ui->sixPointCalibInstructions->append("Hold...");
}
@ -624,23 +638,23 @@ void ConfigRevoWidget::savePositionData()
* store it for averaging. When sufficient points are collected advance
* to the next position (give message to user) or compute the scale and bias
*/
void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
{
QMutexLocker lock(&sensorsUpdateLock);
// This is necessary to prevent a race condition on disconnect signal and another update
if (collectingData == true) {
if( obj->getObjID() == Accels::OBJID ) {
if (obj->getObjID() == Accels::OBJID) {
#ifdef SIX_POINT_CAL_ACCEL
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
Accels::DataFields accelsData = accels->getData();
accel_accum_x.append(accelsData.x);
accel_accum_y.append(accelsData.y);
accel_accum_z.append(accelsData.z);
#endif
} else if( obj->getObjID() == Magnetometer::OBJID ) {
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
} else if (obj->getObjID() == Magnetometer::OBJID) {
Magnetometer *mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
Magnetometer::DataFields magData = mag->getData();
mag_accum_x.append(magData.x);
@ -652,9 +666,9 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
}
#ifdef SIX_POINT_CAL_ACCEL
if(accel_accum_x.size() >= 20 && mag_accum_x.size() >= 20 && collectingData == true) {
if (accel_accum_x.size() >= 20 && mag_accum_x.size() >= 20 && collectingData == true) {
#else
if(mag_accum_x.size() >= 20 && collectingData == true) {
if (mag_accum_x.size() >= 20 && collectingData == true) {
#endif
collectingData = false;
@ -662,44 +676,44 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
#ifdef SIX_POINT_CAL_ACCEL
// Store the mean for this position for the accel
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
disconnect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
accel_data_x[position] = listMean(accel_accum_x);
accel_data_y[position] = listMean(accel_accum_y);
accel_data_z[position] = listMean(accel_accum_z);
#endif
// Store the mean for this position for the mag
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Magnetometer *mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
disconnect(mag,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
mag_data_x[position] = listMean(mag_accum_x);
mag_data_y[position] = listMean(mag_accum_y);
mag_data_z[position] = listMean(mag_accum_z);
position = (position + 1) % 6;
if(position == 1) {
if (position == 1) {
m_ui->sixPointCalibInstructions->append("Place with left side down and click save position...");
displayPlane("plane-left");
}
if(position == 2) {
if (position == 2) {
m_ui->sixPointCalibInstructions->append("Place upside down and click save position...");
displayPlane("plane-flip");
}
if(position == 3) {
if (position == 3) {
m_ui->sixPointCalibInstructions->append("Place with right side down and click save position...");
displayPlane("plane-right");
}
if(position == 4) {
if (position == 4) {
m_ui->sixPointCalibInstructions->append("Place with nose up and click save position...");
displayPlane("plane-up");
}
if(position == 5) {
if (position == 5) {
m_ui->sixPointCalibInstructions->append("Place with nose down and click save position...");
displayPlane("plane-down");
}
if(position == 0) {
if (position == 0) {
computeScaleBias();
m_ui->sixPointsStart->setEnabled(true);
m_ui->sixPointsSave->setEnabled(false);
@ -709,6 +723,9 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
accels->setMetadata(initialAccelsMdata);
#endif
mag->setMetadata(initialMagMdata);
// Recall saved board rotation
recallBoardRotation();
}
}
}
@ -721,8 +738,9 @@ void ConfigRevoWidget::computeScaleBias()
{
double S[3], b[3];
double Be_length;
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation * homeLocation = HomeLocation::GetInstance(getObjectManager());
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
Q_ASSERT(homeLocation);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
@ -730,7 +748,7 @@ void ConfigRevoWidget::computeScaleBias()
#ifdef SIX_POINT_CAL_ACCEL
// Calibration accel
SixPointInConstFieldCal( homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_X] = fabs(S[0]);
revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Y] = fabs(S[1]);
revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Z] = fabs(S[2]);
@ -741,8 +759,8 @@ void ConfigRevoWidget::computeScaleBias()
#endif
// Calibration mag
Be_length = sqrt(pow(homeLocationData.Be[0],2)+pow(homeLocationData.Be[1],2)+pow(homeLocationData.Be[2],2));
SixPointInConstFieldCal( Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2));
SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] = fabs(S[0]);
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = fabs(S[1]);
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = fabs(S[2]);
@ -791,7 +809,7 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData = revoCalibration->getData();
m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
}
#else
#else // ifdef SIX_POINT_CAL_ACCEL
bool good_calibration = true;
good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] ==
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X];
@ -812,9 +830,45 @@ void ConfigRevoWidget::computeScaleBias()
revoCalibrationData = revoCalibration->getData();
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);
}
}
/**
@ -824,8 +878,7 @@ void ConfigRevoWidget::displayPlane(QString elementID)
{
paperplane->setElementId(elementID);
m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect());
m_ui->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio);
}
/*********** Noise measurement functions **************/
@ -835,18 +888,22 @@ void ConfigRevoWidget::displayPlane(QString elementID)
void ConfigRevoWidget::doStartNoiseMeasurement()
{
QMutexLocker lock(&sensorsUpdateLock);
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
Q_UNUSED(lock);
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation * homeLocation = HomeLocation::GetInstance(getObjectManager());
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
Q_ASSERT(homeLocation);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
HomeLocation::DataFields homeLocationData = homeLocation->getData();
//check if Homelocation is set
if(!homeLocationData.Set)
{
// check if Homelocation is set
if (!homeLocationData.Set) {
QMessageBox msgBox;
msgBox.setInformativeText(tr("<p>HomeLocation not SET.</p><p>Please set your HomeLocation and try again. Aborting calibration!</p>"));
msgBox.setStandardButtons(QMessageBox::Ok);
@ -867,11 +924,11 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
mag_accum_z.clear();
/* Need to get as many accel, mag and gyro updates as possible */
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
Gyros * gyros = Gyros::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
Q_ASSERT(gyros);
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Magnetometer *mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
UAVObject::Metadata mdata;
@ -895,26 +952,27 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
mag->setMetadata(mdata);
/* Connect for updates */
connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
connect(gyros, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
connect(mag, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
connect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
connect(gyros, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
}
/**
* Called when any of the sensors are updated. Stores the sample for measuring the
* variance at the end
*/
void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
{
QMutexLocker lock(&sensorsUpdateLock);
Q_UNUSED(lock);
Q_ASSERT(obj);
switch(obj->getObjID()) {
switch (obj->getObjID()) {
case Gyros::OBJID:
{
Gyros * gyros = Gyros::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
Q_ASSERT(gyros);
Gyros::DataFields gyroData = gyros->getData();
gyro_accum_x.append(gyroData.x);
@ -924,7 +982,7 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
}
case Accels::OBJID:
{
Accels * accels = Accels::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
Accels::DataFields accelsData = accels->getData();
accel_accum_x.append(accelsData.x);
@ -934,7 +992,7 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
}
case Magnetometer::OBJID:
{
Magnetometer * mags = Magnetometer::GetInstance(getObjectManager());
Magnetometer *mags = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mags);
Magnetometer::DataFields magData = mags->getData();
mag_accum_x.append(magData.x);
@ -946,30 +1004,30 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
Q_ASSERT(0);
}
float p1 = (float) mag_accum_x.length() / (float) NOISE_SAMPLES;
float p2 = (float) gyro_accum_x.length() / (float) NOISE_SAMPLES;
float p3 = (float) accel_accum_x.length() / (float) NOISE_SAMPLES;
float p1 = (float)mag_accum_x.length() / (float)NOISE_SAMPLES;
float p2 = (float)gyro_accum_x.length() / (float)NOISE_SAMPLES;
float p3 = (float)accel_accum_x.length() / (float)NOISE_SAMPLES;
float prog = (p1 < p2) ? p1 : p2;
prog = (prog < p3) ? prog : p3;
m_ui->noiseMeasurementProgress->setValue(prog * 100);
if(mag_accum_x.length() >= NOISE_SAMPLES &&
if (mag_accum_x.length() >= NOISE_SAMPLES &&
gyro_accum_x.length() >= NOISE_SAMPLES &&
accel_accum_x.length() >= NOISE_SAMPLES) {
// No need to for more updates
Magnetometer * mags = Magnetometer::GetInstance(getObjectManager());
Accels * accels = Accels::GetInstance(getObjectManager());
Gyros * gyros = Gyros::GetInstance(getObjectManager());
disconnect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
disconnect(gyros, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
disconnect(mags, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetNoiseSample(UAVObject*)));
Magnetometer *mags = Magnetometer::GetInstance(getObjectManager());
Accels *accels = Accels::GetInstance(getObjectManager());
Gyros *gyros = Gyros::GetInstance(getObjectManager());
disconnect(accels, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
disconnect(gyros, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
disconnect(mags, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager());
Q_ASSERT(ekfConfiguration);
if(ekfConfiguration) {
if (ekfConfiguration) {
EKFConfiguration::DataFields revoCalData = ekfConfiguration->getData();
revoCalData.Q[EKFConfiguration::Q_ACCELX] = listVar(accel_accum_x);
revoCalData.Q[EKFConfiguration::Q_ACCELY] = listVar(accel_accum_y);
@ -982,6 +1040,9 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
revoCalData.R[EKFConfiguration::R_MAGZ] = listVar(mag_accum_z);
ekfConfiguration->setData(revoCalData);
}
// Recall saved board rotation
recallBoardRotation();
}
}
@ -991,44 +1052,55 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
*/
void ConfigRevoWidget::drawVariancesGraph()
{
EKFConfiguration * ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager());
EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager());
Q_ASSERT(ekfConfiguration);
if(!ekfConfiguration)
if (!ekfConfiguration) {
return;
}
EKFConfiguration::DataFields ekfConfigurationData = ekfConfiguration->getData();
// The expected range is from 1E-6 to 1E-1
double steps = 6; // 6 bars on the graph
float accel_x_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELX]));
if(accel_x)
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
float accel_y_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELY]));
if(accel_y)
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
float accel_z_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELZ]));
if(accel_z)
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
float accel_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELX]));
if (accel_x) {
accel_x->setTransform(QTransform::fromScale(1, accel_x_var), false);
}
float accel_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELY]));
if (accel_y) {
accel_y->setTransform(QTransform::fromScale(1, accel_y_var), false);
}
float accel_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELZ]));
if (accel_z) {
accel_z->setTransform(QTransform::fromScale(1, accel_z_var), false);
}
float gyro_x_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROX]));
if(gyro_x)
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
float gyro_y_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROY]));
if(gyro_y)
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
float gyro_z_var = -1/steps*(1+steps+log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROZ]));
if(gyro_z)
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
float gyro_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROX]));
if (gyro_x) {
gyro_x->setTransform(QTransform::fromScale(1, gyro_x_var), false);
}
float gyro_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROY]));
if (gyro_y) {
gyro_y->setTransform(QTransform::fromScale(1, gyro_y_var), false);
}
float gyro_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROZ]));
if (gyro_z) {
gyro_z->setTransform(QTransform::fromScale(1, gyro_z_var), false);
}
// 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]));
if(mag_x)
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]));
if(mag_y)
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]));
if(mag_z)
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
float mag_x_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGX]));
if (mag_x) {
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]));
if (mag_y) {
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]));
if (mag_z) {
mag_z->setTransform(QTransform::fromScale(1, mag_z_var), false);
}
}
/**
@ -1045,11 +1117,31 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
m_ui->sixPointsStart->setEnabled(true);
m_ui->accelBiasStart->setEnabled(true);
m_ui->startDriftCalib->setEnabled(true);
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);
}

24
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -43,8 +43,7 @@
class Ui_Widget;
class ConfigRevoWidget: public ConfigTaskWidget
{
class ConfigRevoWidget : public ConfigTaskWidget {
Q_OBJECT
public:
@ -55,7 +54,7 @@ private:
void drawVariancesGraph();
void displayPlane(QString elementID);
//! Computes the scale and bias of the mag based on collected data
// ! Computes the scale and bias of the mag based on collected data
void computeScaleBias();
Ui_RevoSensorsWidget *m_ui;
@ -101,27 +100,36 @@ private:
static const int NOISE_SAMPLES = 100;
// Board rotation store/recall
qint16 storedBoardRotation[3];
bool isBoardRotationStored;
void storeAndClearBoardRotation();
void recallBoardRotation();
private slots:
//! Overriden method from the configTaskWidget to update UI
virtual void refreshWidgetsValues(UAVObject *object=NULL);
// ! Overriden method from the configTaskWidget to update UI
virtual void refreshWidgetsValues(UAVObject *object = NULL);
// Slots for calibrating the mags
void doStartSixPointCalibration();
void doGetSixPointCalibrationMeasurement(UAVObject * obj);
void doGetSixPointCalibrationMeasurement(UAVObject *obj);
void savePositionData();
// Slots for calibrating the accel and gyro
void doStartAccelGyroBiasCalibration();
void doGetAccelGyroBiasData(UAVObject*);
void doGetAccelGyroBiasData(UAVObject *);
// Slots for measuring the sensor noise
void doStartNoiseMeasurement();
void doGetNoiseSample(UAVObject *);
// Slot for clearing home location
void clearHomeLocation();
protected:
void showEvent(QShowEvent *event);
void resizeEvent(QResizeEvent *event);
};
#endif // ConfigRevoWidget_H

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

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
<width>643</width>
<height>531</height>
</rect>
</property>
<property name="windowTitle">
@ -16,8 +16,11 @@
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="tab_2">
<attribute name="title">
@ -499,28 +502,275 @@ p, li { white-space: pre-wrap; }
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<layout class="QHBoxLayout" name="ahrsSettingsLayout">
<item>
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
<property name="margin">
<number>6</number>
</property>
<property name="text">
<string>Attitude Algorithm:</string>
</property>
</widget>
</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">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
</property>
</widget>
</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>
<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">
<enum>Qt::Horizontal</enum>
</property>
@ -532,71 +782,114 @@ p, li { white-space: pre-wrap; }
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
<item row="1" column="5">
<widget class="QSpinBox" name="yawRotation">
<property name="minimum">
<number>-180</number>
</property>
<property name="text">
<string>Home Location:</string>
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="homeLocationSet">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Saves the Home Location. This is only enabled
if the Home Location is set, i.e. if the GPS fix is
successful.
Disabled if there is no GPS fix.</string>
<item row="0" column="5">
<widget class="QLabel" name="label_13">
<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>Set</string>
<string>Yaw</string>
</property>
<property name="checked">
<bool>true</bool>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<attribute name="buttonGroup">
<string notr="true">buttonGroup</string>
</attribute>
</widget>
</item>
<item>
<widget class="QRadioButton" name="homeLocationClear">
<property name="enabled">
<bool>true</bool>
<item row="1" column="2">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="toolTip">
<string>Clears the HomeLocation: only makes sense if you save
to SD. This will force the INS to use the next GPS fix as the
new home location unless it is in indoor mode.</string>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<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 name="text">
<string>Clear</string>
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<attribute name="buttonGroup">
<string notr="true">buttonGroup</string>
</attribute>
</widget>
</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>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
<height>100</height>
</size>
</property>
</spacer>
@ -716,7 +1009,4 @@ specific calibration button on top of the screen.</string>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
<buttongroups>
<buttongroup name="buttonGroup"/>
</buttongroups>
</ui>