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OP-38 A bit of visual feedback on 6-point calibration. Hope you like the UAV I used, very simple model ;)

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1459 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-08-29 22:00:54 +00:00 committed by edouard
parent 098cff530f
commit 46ac5c8054
5 changed files with 530 additions and 60 deletions
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77
ground/src/plugins/config/ahrs.ui
View File

@ -17,7 +17,7 @@
<property name="geometry">
<rect>
<x>10</x>
<y>9</y>
<y>7</y>
<width>641</width>
<height>461</height>
</rect>
@ -75,9 +75,9 @@ Tip: lower is better!</string>
</rect>
</property>
<property name="toolTip">
<string>Press to start a calibration procedure.
<string>Press to start a calibration procedure, takes 30 seconds max.
Takes about 30 seconds max.</string>
Hint: run this with engines at cruising speed.</string>
</property>
<property name="text">
<string>Start</string>
@ -100,7 +100,7 @@ Takes about 30 seconds max.</string>
<property name="geometry">
<rect>
<x>10</x>
<y>180</y>
<y>390</y>
<width>111</width>
<height>17</height>
</rect>
@ -113,7 +113,7 @@ Takes about 30 seconds max.</string>
<property name="geometry">
<rect>
<x>140</x>
<y>170</y>
<y>380</y>
<width>131</width>
<height>31</height>
</rect>
@ -122,24 +122,11 @@ Takes about 30 seconds max.</string>
<string>Select the sensor integration algorithm here.</string>
</property>
</widget>
<widget class="Line" name="line_2">
<property name="geometry">
<rect>
<x>130</x>
<y>220</y>
<width>411</width>
<height>20</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="QGraphicsView" name="graphicsView_2">
<widget class="QGraphicsView" name="sixPointsHelp">
<property name="geometry">
<rect>
<x>10</x>
<y>260</y>
<y>190</y>
<width>191</width>
<height>151</height>
</rect>
@ -149,38 +136,38 @@ Takes about 30 seconds max.</string>
<property name="geometry">
<rect>
<x>40</x>
<y>240</y>
<width>121</width>
<y>170</y>
<width>151</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Calibration #2</string>
<string>Six Point Calibration</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsSavePosition">
<widget class="QPushButton" name="sixPointsStart">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>220</x>
<y>250</y>
<y>180</y>
<width>111</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Six Point Cal</string>
<string>Start</string>
</property>
</widget>
<widget class="QTextBrowser" name="textBrowser">
<widget class="QTextEdit" name="sixPointCalibInstructions">
<property name="geometry">
<rect>
<x>360</x>
<y>250</y>
<width>271</width>
<height>161</height>
<x>220</x>
<y>220</y>
<width>411</width>
<height>121</height>
</rect>
</property>
</widget>
@ -190,8 +177,8 @@ Takes about 30 seconds max.</string>
</property>
<property name="geometry">
<rect>
<x>290</x>
<y>180</y>
<x>310</x>
<y>380</y>
<width>201</width>
<height>22</height>
</rect>
@ -255,7 +242,7 @@ specific calibration button on top of the screen.</string>
<property name="geometry">
<rect>
<x>120</x>
<y>410</y>
<y>350</y>
<width>411</width>
<height>20</height>
</rect>
@ -267,14 +254,14 @@ specific calibration button on top of the screen.</string>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>380</x>
<x>360</x>
<y>10</y>
<width>151</width>
<width>271</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Sensors calibration</string>
<string>Sensor noise calibration</string>
</property>
</widget>
<widget class="QProgressBar" name="calibProgress">
@ -299,6 +286,22 @@ specific calibration button on top of the screen.</string>
<bool>false</bool>
</property>
</widget>
<widget class="QPushButton" name="sixPointsSave">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>350</x>
<y>180</y>
<width>111</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Save Position</string>
</property>
</widget>
</widget>
</widget>
<resources/>

83
ground/src/plugins/config/configahrswidget.cpp
View File

@ -43,6 +43,17 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_ahrs = new Ui_AHRSWidget();
m_ahrs->setupUi(this);
// Initialization of the Paper plane widget
m_ahrs->sixPointsHelp->setScene(new QGraphicsScene(this));
paperplane = new QGraphicsSvgItem();
paperplane->setSharedRenderer(new QSvgRenderer());
paperplane->renderer()->load(QString(":/configgadget/images/paper-plane.svg"));
paperplane->setElementId("plane-horizontal");
m_ahrs->sixPointsHelp->scene()->addItem(paperplane);
m_ahrs->sixPointsHelp->setSceneRect(paperplane->boundingRect());
// Initialization of the AHRS bargraph graph
m_ahrs->ahrsBargraph->setScene(new QGraphicsScene(this));
@ -176,7 +187,8 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
connect(m_ahrs->ahrsSavePosition, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(calibrationMode()));
connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
@ -195,6 +207,7 @@ void ConfigAHRSWidget::showEvent(QShowEvent *event)
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_ahrs->ahrsBargraph->fitInView(ahrsbargraph, Qt::KeepAspectRatio);
m_ahrs->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
}
/**
@ -276,13 +289,6 @@ void ConfigAHRSWidget::saveAHRSCalibration()
*/
void ConfigAHRSWidget::savePositionData()
{
if(position < 0)
{
calibrationMode();
m_ahrs->calibInstructions->setText("Place horizontally and click save position...");
position = 0;
return;
}
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
UAVObjectField *accel_field = obj->getField(QString("accels_filtered"));
@ -296,18 +302,31 @@ void ConfigAHRSWidget::savePositionData()
mag_data_z[position] = mag_field->getValue(2).toDouble();
position = (position + 1) % 6;
if(position == 1)
m_ahrs->calibInstructions->setText("Place with left side down and click save position...");
if(position == 2)
m_ahrs->calibInstructions->setText("Place upside down and click save position...");
if(position == 3)
m_ahrs->calibInstructions->setText("Place with right side down and click save position...");
if(position == 4)
m_ahrs->calibInstructions->setText("Place with nose up and click save position...");
if(position == 5)
m_ahrs->calibInstructions->setText("Place with nose down and click save position...");
if(position == 0)
if(position == 1) {
m_ahrs->sixPointCalibInstructions->append("Place with left side down and click save position...");
displayPlane("plane-left");
}
if(position == 2) {
m_ahrs->sixPointCalibInstructions->append("Place upside down and click save position...");
displayPlane("plane-flip");
}
if(position == 3) {
m_ahrs->sixPointCalibInstructions->append("Place with right side down and click save position...");
displayPlane("plane-right");
}
if(position == 4) {
m_ahrs->sixPointCalibInstructions->append("Place with nose up and click save position...");
displayPlane("plane-up");
}
if(position == 5) {
m_ahrs->sixPointCalibInstructions->append("Place with nose down and click save position...");
displayPlane("plane-down");
}
if(position == 0) {
computeScaleBias();
m_ahrs->sixPointsStart->setEnabled(true);
m_ahrs->sixPointsSave->setEnabled(false);
}
}
//*****************************************************************
@ -438,7 +457,7 @@ void ConfigAHRSWidget::computeScaleBias()
obj->updated();
position = -1; //set to run again
m_ahrs->calibInstructions->setText("Computed accel and mag scale and bias...");
m_ahrs->sixPointCalibInstructions->append("Computed accel and mag scale and bias...");
}
@ -446,8 +465,6 @@ void ConfigAHRSWidget::calibrationMode()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
m_ahrs->calibInstructions->setText("Now place in the horizontal position...");
// set accels to unity gain
UAVObjectField *field = obj->getField(QString("accel_scale"));
field->setDouble(1,0);
@ -463,8 +480,28 @@ void ConfigAHRSWidget::calibrationMode()
field = obj->getField(QString("UpdateRaw"));
field->setValue("TRUE");
obj->updated();
m_ahrs->sixPointCalibInstructions->clear();
m_ahrs->sixPointCalibInstructions->append("Place horizontally and click save position...<br>");
displayPlane("plane-horizontal");
m_ahrs->sixPointsStart->setEnabled(false);
m_ahrs->sixPointsSave->setEnabled(true);
position = 0;
}
/**
Rotate the paper plane
*/
void ConfigAHRSWidget::displayPlane(QString elementID)
{
paperplane->setElementId(elementID);
m_ahrs->sixPointsHelp->setSceneRect(paperplane->boundingRect());
m_ahrs->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
}
/**
Draws the sensor variances bargraph
*/
@ -512,7 +549,7 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
drawVariancesGraph();
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->ahrsSavePosition->setEnabled(true);
m_ahrs->sixPointsStart->setEnabled(true);
m_ahrs->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
}

2
ground/src/plugins/config/configahrswidget.h
View File

@ -48,7 +48,9 @@ public:
private:
void drawVariancesGraph();
void displayPlane(QString elementID);
Ui_AHRSWidget *m_ahrs;
QGraphicsSvgItem *paperplane;
QGraphicsSvgItem *ahrsbargraph;
QGraphicsSvgItem *accel_x;
QGraphicsSvgItem *accel_y;

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

@ -5,5 +5,6 @@
<file>images/Servo.png</file>
<file>images/ahrs-calib.svg</file>
<file>images/AHRS-v1.3.png</file>
<file>images/paper-plane.svg</file>
</qresource>
</RCC>

427
ground/src/plugins/config/images/paper-plane.svg Normal file
View File

@ -0,0 +1,427 @@
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