mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-21 13:28:58 +01:00
LP-240 Add GUI tab for external Magnetometer
This commit is contained in:
Laurent Lalanne
parent
96ed1e40ba
commit
45c42537b1
@ -193,6 +193,22 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
|
||||
addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW);
|
||||
addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau);
|
||||
|
||||
addWidgetBinding("AuxMagSettings", "Usage", m_ui->auxMagUsage, 0, 1, true);
|
||||
addWidgetBinding("AuxMagSettings", "Type", m_ui->auxMagType, 0, 1, true);
|
||||
|
||||
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagRollRotation, AuxMagSettings::BOARDROTATION_ROLL);
|
||||
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagPitchRotation, AuxMagSettings::BOARDROTATION_PITCH);
|
||||
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagYawRotation, AuxMagSettings::BOARDROTATION_YAW);
|
||||
|
||||
connect(MagSensor::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onBoardAuxMagError()));
|
||||
connect(MagState::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateMagStatus()));
|
||||
|
||||
addWidget(m_ui->internalAuxErrorX);
|
||||
addWidget(m_ui->internalAuxErrorY);
|
||||
addWidget(m_ui->internalAuxErrorZ);
|
||||
|
||||
displayMagError = false;
|
||||
|
||||
// Connect the help button
|
||||
connect(m_ui->attitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
|
||||
@ -451,6 +467,98 @@ void ConfigRevoWidget::enableAllCalibrations()
|
||||
m_ui->thermalBiasStart->setEnabled(true);
|
||||
}
|
||||
|
||||
void ConfigRevoWidget::onBoardAuxMagError()
|
||||
{
|
||||
magSensor = MagSensor::GetInstance(getObjectManager());
|
||||
Q_ASSERT(magSensor);
|
||||
|
||||
auxMagSensor = AuxMagSensor::GetInstance(getObjectManager());
|
||||
Q_ASSERT(auxMagSensor);
|
||||
|
||||
if (m_ui->tabWidget->currentIndex() != 2) {
|
||||
// Restore metadata
|
||||
if (displayMagError) {
|
||||
magSensor->setMetadata(metamag.magSensorMetadata);
|
||||
auxMagSensor->setMetadata(metamag.auxMagSensorMetadata);
|
||||
displayMagError = false;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (!displayMagError) {
|
||||
// Store current metadata settings
|
||||
metamag.magSensorMetadata = magSensor->getMetadata();
|
||||
metamag.auxMagSensorMetadata = auxMagSensor->getMetadata();
|
||||
|
||||
// Apply new rates
|
||||
UAVObject::Metadata mdata = magSensor->getMetadata();
|
||||
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
mdata.flightTelemetryUpdatePeriod = 100;
|
||||
magSensor->setMetadata(mdata);
|
||||
|
||||
mdata = auxMagSensor->getMetadata();
|
||||
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
mdata.flightTelemetryUpdatePeriod = 100;
|
||||
auxMagSensor->setMetadata(mdata);
|
||||
|
||||
displayMagError = true;
|
||||
}
|
||||
|
||||
MagSensor::DataFields magData = magSensor->getData();
|
||||
AuxMagSensor::DataFields auxMagData = auxMagSensor->getData();
|
||||
|
||||
// Smooth Mag readings
|
||||
float alpha = 0.8f;
|
||||
float inv_alpha = (1.0f - alpha);
|
||||
onboardMag[0] = (onboardMag[0] * alpha) + (magData.x * inv_alpha);
|
||||
onboardMag[1] = (onboardMag[1] * alpha) + (magData.y * inv_alpha);
|
||||
onboardMag[2] = (onboardMag[2] * alpha) + (magData.z * inv_alpha);
|
||||
|
||||
auxMag[0] = (auxMag[0] * alpha) + (auxMagData.x * inv_alpha);
|
||||
auxMag[1] = (auxMag[1] * alpha) + (auxMagData.y * inv_alpha);
|
||||
auxMag[2] = (auxMag[2] * alpha) + (auxMagData.z * inv_alpha);
|
||||
|
||||
// Normalize vectors
|
||||
float magLenght = sqrt((onboardMag[0] * onboardMag[0]) + (onboardMag[1] * onboardMag[1]) + (onboardMag[2] * onboardMag[2]));
|
||||
float auxMagLenght = sqrt((auxMag[0] * auxMag[0]) + (auxMag[1] * auxMag[1]) + (auxMag[2] * auxMag[2]));
|
||||
|
||||
normalizedMag[0] = onboardMag[0] / magLenght;
|
||||
normalizedMag[1] = onboardMag[1] / magLenght;
|
||||
normalizedMag[2] = onboardMag[2] / magLenght;
|
||||
|
||||
normalizedAuxMag[0] = auxMag[0] / auxMagLenght;
|
||||
normalizedAuxMag[1] = auxMag[1] / auxMagLenght;
|
||||
normalizedAuxMag[2] = auxMag[2] / auxMagLenght;
|
||||
|
||||
// Calc diff and scale
|
||||
float xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
|
||||
float yDiff = (normalizedMag[1] - normalizedAuxMag[1]) * 25.0f;
|
||||
float zDiff = (normalizedMag[2] - normalizedAuxMag[2]) * 25.0f;
|
||||
|
||||
// Display Mag/AuxMag diff for every axis
|
||||
m_ui->internalAuxErrorX->setValue(xDiff > 50.0f ? 50.0f : xDiff < -50.0f ? -50.0f : xDiff);
|
||||
m_ui->internalAuxErrorY->setValue(yDiff > 50.0f ? 50.0f : yDiff < -50.0f ? -50.0f : yDiff);
|
||||
m_ui->internalAuxErrorZ->setValue(zDiff > 50.0f ? 50.0f : zDiff < -50.0f ? -50.0f : zDiff);
|
||||
}
|
||||
|
||||
void ConfigRevoWidget::updateMagStatus()
|
||||
{
|
||||
magState = MagState::GetInstance(getObjectManager());
|
||||
Q_ASSERT(magState);
|
||||
|
||||
MagState::DataFields magStateData = magState->getData();
|
||||
|
||||
if (magStateData.Source == MagState::SOURCE_INVALID) {
|
||||
m_ui->magStatusSource->setText(tr("Source invalid"));
|
||||
} else if (magStateData.Source == MagState::SOURCE_ONBOARD) {
|
||||
m_ui->magStatusSource->setText(tr("OnBoard mag"));
|
||||
} else if (magStateData.Source == MagState::SOURCE_AUX) {
|
||||
m_ui->magStatusSource->setText(tr("External mag"));
|
||||
} else {
|
||||
m_ui->magStatusSource->setText(tr("Unknown"));
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigRevoWidget::openHelp()
|
||||
{
|
||||
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revo+Attitude+Configuration"),
|
||||
|
||||
@ -37,6 +37,11 @@
|
||||
#include "calibration/levelcalibrationmodel.h"
|
||||
#include "calibration/gyrobiascalibrationmodel.h"
|
||||
|
||||
#include <auxmagsettings.h>
|
||||
#include <magsensor.h>
|
||||
#include <auxmagsensor.h>
|
||||
#include <magstate.h>
|
||||
|
||||
#include <QWidget>
|
||||
#include <QtSvg/QSvgRenderer>
|
||||
#include <QtSvg/QGraphicsSvgItem>
|
||||
@ -53,6 +58,26 @@ public:
|
||||
ConfigRevoWidget(QWidget *parent = 0);
|
||||
~ConfigRevoWidget();
|
||||
|
||||
typedef struct {
|
||||
UAVObject::Metadata magSensorMetadata;
|
||||
UAVObject::Metadata auxMagSensorMetadata;
|
||||
} MetaMag;
|
||||
|
||||
MetaMag metamag;
|
||||
|
||||
bool displayMagError;
|
||||
|
||||
AuxMagSettings *auxMagSettings;
|
||||
MagSensor *magSensor;
|
||||
AuxMagSensor *auxMagSensor;
|
||||
MagState *magState;
|
||||
|
||||
float onboardMag[3];
|
||||
float auxMag[3];
|
||||
|
||||
float normalizedMag[3];
|
||||
float normalizedAuxMag[3];
|
||||
|
||||
private:
|
||||
OpenPilot::SixPointCalibrationModel *m_accelCalibrationModel;
|
||||
OpenPilot::SixPointCalibrationModel *m_magCalibrationModel;
|
||||
@ -87,6 +112,9 @@ private slots:
|
||||
void disableAllCalibrations();
|
||||
void enableAllCalibrations();
|
||||
|
||||
void onBoardAuxMagError();
|
||||
void updateMagStatus();
|
||||
|
||||
void updateVisualHelp();
|
||||
void openHelp();
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1014</width>
|
||||
<width>890</width>
|
||||
<height>725</height>
|
||||
</rect>
|
||||
</property>
|
||||
@ -438,8 +438,8 @@
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:10pt; font-weight:400; font-style:normal;">
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"><br /></p></body></html></string>
|
||||
</style></head><body style=" font-family:'Cantarell'; font-size:10pt; font-weight:400; font-style:normal;">
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-weight:600;"><br /></p></body></html></string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::NoTextInteraction</set>
|
||||
@ -950,6 +950,528 @@ A setting of 0.00 disables the filter.</string>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="externalMagTab">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<attribute name="title">
|
||||
<string>External Mag Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_6">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_8">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Magnetometer Settings</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0">
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_31">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Mag type:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_32">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Mag use:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QComboBox" name="auxMagType">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select the magnetometer type.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="auxMagUsage">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select how to use magnetometers.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_9">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Magnetometer Status</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="magStatusSource">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>external</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>110</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Mag source:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_7">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Rotate Magnetometer Orientation</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,0">
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_29">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="auxMagPitchRotation">
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-180.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QDoubleSpinBox" name="auxMagYawRotation">
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-180.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_28">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="auxMagRollRotation">
|
||||
<property name="toolTip">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-180.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_30">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="gridGroupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>External Mag Orientation Help</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_10">
|
||||
<property name="leftMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Z axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorY">
|
||||
<property name="toolTip">
|
||||
<string>Difference on Y axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorZ">
|
||||
<property name="toolTip">
|
||||
<string>Difference on Z axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Y axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorX">
|
||||
<property name="toolTip">
|
||||
<string>Difference on X axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>X axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0" colspan="2">
|
||||
<widget class="QTextEdit" name="textEdit">
|
||||
<property name="html">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The bargraphs show the difference between the onboard magnetometer and external magnetometer measurements. </p>
|
||||
<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When the external magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) <a name="result_box"></a>whatever the vehicle's orientation.</p>
|
||||
<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This assumes the onboard magnetometer is also calibrated (Mag use=Both).</p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="helpTab">
|
||||
<attribute name="title">
|
||||
<string>Help</string>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user