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Code Issues Releases Activity

Rename method and UI in revo calibration to fit new uavos and stop referring to

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things as AHRS
This commit is contained in:
James Cotton 2012-06-13 12:37:17 -05:00
parent b074b1f712
commit 49b51163bc
3 changed files with 34 additions and 35 deletions
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54
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -87,16 +87,16 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect());
// Initialization of the Revo sensor noise bargraph graph
m_ui->ahrsBargraph->setScene(new QGraphicsScene(this));
m_ui->sensorsBargraph->setScene(new QGraphicsScene(this));
QSvgRenderer *renderer = new QSvgRenderer();
ahrsbargraph = new QGraphicsSvgItem();
sensorsBargraph = new QGraphicsSvgItem();
renderer->load(QString(":/configgadget/images/ahrs-calib.svg"));
ahrsbargraph->setSharedRenderer(renderer);
ahrsbargraph->setElementId("background");
ahrsbargraph->setObjectName("background");
m_ui->ahrsBargraph->scene()->addItem(ahrsbargraph);
m_ui->ahrsBargraph->setSceneRect(ahrsbargraph->boundingRect());
sensorsBargraph->setSharedRenderer(renderer);
sensorsBargraph->setElementId("background");
sensorsBargraph->setObjectName("background");
m_ui->sensorsBargraph->scene()->addItem(sensorsBargraph);
m_ui->sensorsBargraph->setSceneRect(sensorsBargraph->boundingRect());
// Initialize the 9 bargraph values:
@ -113,7 +113,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
accel_x = new QGraphicsSvgItem();
accel_x->setSharedRenderer(renderer);
accel_x->setElementId("accel_x");
m_ui->ahrsBargraph->scene()->addItem(accel_x);
m_ui->sensorsBargraph->scene()->addItem(accel_x);
accel_x->setPos(startX, startY);
accel_x->setTransform(QTransform::fromScale(1,0),true);
@ -124,7 +124,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
accel_y = new QGraphicsSvgItem();
accel_y->setSharedRenderer(renderer);
accel_y->setElementId("accel_y");
m_ui->ahrsBargraph->scene()->addItem(accel_y);
m_ui->sensorsBargraph->scene()->addItem(accel_y);
accel_y->setPos(startX,startY);
accel_y->setTransform(QTransform::fromScale(1,0),true);
@ -135,7 +135,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
accel_z = new QGraphicsSvgItem();
accel_z->setSharedRenderer(renderer);
accel_z->setElementId("accel_z");
m_ui->ahrsBargraph->scene()->addItem(accel_z);
m_ui->sensorsBargraph->scene()->addItem(accel_z);
accel_z->setPos(startX,startY);
accel_z->setTransform(QTransform::fromScale(1,0),true);
@ -146,7 +146,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
gyro_x = new QGraphicsSvgItem();
gyro_x->setSharedRenderer(renderer);
gyro_x->setElementId("gyro_x");
m_ui->ahrsBargraph->scene()->addItem(gyro_x);
m_ui->sensorsBargraph->scene()->addItem(gyro_x);
gyro_x->setPos(startX,startY);
gyro_x->setTransform(QTransform::fromScale(1,0),true);
@ -157,7 +157,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
gyro_y = new QGraphicsSvgItem();
gyro_y->setSharedRenderer(renderer);
gyro_y->setElementId("gyro_y");
m_ui->ahrsBargraph->scene()->addItem(gyro_y);
m_ui->sensorsBargraph->scene()->addItem(gyro_y);
gyro_y->setPos(startX,startY);
gyro_y->setTransform(QTransform::fromScale(1,0),true);
@ -169,7 +169,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
gyro_z = new QGraphicsSvgItem();
gyro_z->setSharedRenderer(renderer);
gyro_z->setElementId("gyro_z");
m_ui->ahrsBargraph->scene()->addItem(gyro_z);
m_ui->sensorsBargraph->scene()->addItem(gyro_z);
gyro_z->setPos(startX,startY);
gyro_z->setTransform(QTransform::fromScale(1,0),true);
@ -180,7 +180,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
mag_x = new QGraphicsSvgItem();
mag_x->setSharedRenderer(renderer);
mag_x->setElementId("mag_x");
m_ui->ahrsBargraph->scene()->addItem(mag_x);
m_ui->sensorsBargraph->scene()->addItem(mag_x);
mag_x->setPos(startX,startY);
mag_x->setTransform(QTransform::fromScale(1,0),true);
@ -191,7 +191,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
mag_y = new QGraphicsSvgItem();
mag_y->setSharedRenderer(renderer);
mag_y->setElementId("mag_y");
m_ui->ahrsBargraph->scene()->addItem(mag_y);
m_ui->sensorsBargraph->scene()->addItem(mag_y);
mag_y->setPos(startX,startY);
mag_y->setTransform(QTransform::fromScale(1,0),true);
@ -202,7 +202,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
mag_z = new QGraphicsSvgItem();
mag_z->setSharedRenderer(renderer);
mag_z->setElementId("mag_z");
m_ui->ahrsBargraph->scene()->addItem(mag_z);
m_ui->sensorsBargraph->scene()->addItem(mag_z);
mag_z->setPos(startX,startY);
mag_z->setTransform(QTransform::fromScale(1,0),true);
@ -213,8 +213,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
Q_ASSERT(revoCalibration);
connect(revoCalibration, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
connect(m_ui->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(SettingsToRAM()));
connect(m_ui->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(SettingsToFlash()));
connect(m_ui->revoCalSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(SettingsToRAM()));
connect(m_ui->revoCalSettingsSaveSD, SIGNAL(clicked()), this, SLOT(SettingsToFlash()));
connect(m_ui->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
@ -230,7 +230,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
// Connect the help button
connect(m_ui->ahrsHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
connect(m_ui->Help, SIGNAL(clicked()), this, SLOT(openHelp()));
}
ConfigRevoWidget::~ConfigRevoWidget()
@ -244,15 +244,15 @@ void ConfigRevoWidget::showEvent(QShowEvent *event)
Q_UNUSED(event)
// Thit fitInView method should only be called now, once the
// widget is shown, otherwise it cannot compute its values and
// the result is usually a ahrsbargraph that is way too small.
m_ui->ahrsBargraph->fitInView(ahrsbargraph, Qt::KeepAspectRatio);
// 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);
}
void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event)
m_ui->ahrsBargraph->fitInView(ahrsbargraph, Qt::KeepAspectRatio);
m_ui->sensorsBargraph->fitInView(sensorsBargraph, Qt::KeepAspectRatio);
m_ui->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
}
@ -293,13 +293,13 @@ void ConfigRevoWidget::launchAccelBiasCalibration()
// Now connect to the accels and mag updates, gather for 100 samples
collectingData = true;
connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelBiasattitudeRawUpdated(UAVObject*)));
connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetAccelBiasData(UAVObject*)));
}
/**
Updates the accel bias raw values
*/
void ConfigRevoWidget::accelBiasattitudeRawUpdated(UAVObject *obj)
void ConfigRevoWidget::doGetAccelBiasData(UAVObject *obj)
{
Q_UNUSED(obj);
@ -318,7 +318,7 @@ void ConfigRevoWidget::accelBiasattitudeRawUpdated(UAVObject *obj)
if(accel_accum_x.size() >= 100 && collectingData == true) {
collectingData = false;
disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(accelBiasattitudeRawUpdated(UAVObject*)));
disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetAccelBiasData(UAVObject*)));
m_ui->accelBiasStart->setEnabled(true);
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
@ -359,7 +359,7 @@ void ConfigRevoWidget::incrementProgress()
void ConfigRevoWidget::sensorsUpdated(UAVObject * obj)
{
QMutexLocker lock(&attitudeRawUpdateLock);
QMutexLocker lock(&sensorsUpdateLock);
// This is necessary to prevent a race condition on disconnect signal and another update
if (collectingData == true) {
@ -447,7 +447,7 @@ void ConfigRevoWidget::sensorsUpdated(UAVObject * obj)
*/
void ConfigRevoWidget::savePositionData()
{
QMutexLocker lock(&attitudeRawUpdateLock);
QMutexLocker lock(&sensorsUpdateLock);
m_ui->sixPointsSave->setEnabled(false);
accel_accum_x.clear();

5
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -68,7 +68,7 @@ private:
QGraphicsSvgItem *mag_x;
QGraphicsSvgItem *mag_y;
QGraphicsSvgItem *mag_z;
QMutex attitudeRawUpdateLock;
QMutex sensorsUpdateLock;
double maxBarHeight;
int phaseCounter;
int progressBarIndex;
@ -100,14 +100,13 @@ private slots:
void incrementProgress();
virtual void refreshValues();
//void ahrsSettingsRequest();
void SettingsToRAM();
void SettingsToFlash();
void savePositionData();
void computeScaleBias();
void sixPointCalibrationMode();
void sensorsUpdated(UAVObject * obj);
void accelBiasattitudeRawUpdated(UAVObject*);
void doGetAccelBiasData(UAVObject*);
protected:
void showEvent(QShowEvent *event);

10
ground/openpilotgcs/src/plugins/config/revosensors.ui
View File

@ -51,7 +51,7 @@
</font>
</property>
<property name="text">
<string>#1: Multi-Point Calibration</string>
<string>#1: Magnetometer calibrtion</string>
</property>
</widget>
</item>
@ -157,7 +157,7 @@
</layout>
</item>
<item>
<widget class="QGraphicsView" name="ahrsBargraph">
<widget class="QGraphicsView" name="sensorsBargraph">
<property name="toolTip">
<string>These are the sensor variance values computed by the AHRS.
@ -630,7 +630,7 @@ new home location unless it is in indoor mode.</string>
</spacer>
</item>
<item>
<widget class="QPushButton" name="ahrsHelp">
<widget class="QPushButton" name="Help">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -673,7 +673,7 @@ new home location unless it is in indoor mode.</string>
</widget>
</item>
<item>
<widget class="QPushButton" name="ahrsSettingsSaveRAM">
<widget class="QPushButton" name="revoCalSettingsSaveRAM">
<property name="toolTip">
<string>Save settings to the board (RAM only).
@ -686,7 +686,7 @@ specific calibration button on top of the screen.</string>
</widget>
</item>
<item>
<widget class="QPushButton" name="ahrsSettingsSaveSD">
<widget class="QPushButton" name="revoCalSettingsSaveSD">
<property name="toolTip">
<string>Send settings to the board, and save to the non-volatile memory.</string>
</property>