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Code Issues Releases Activity

Ground/AHRS Calibration: Hard code the signs of teh sensor calibrations to be

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correct.  Six point calibration otherwise is sometimes inconsistent.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1805 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-30 01:20:34 +00:00 committed by peabody124
parent 25314ab92a
commit 4caab584f1
1 changed files with 14 additions and 16 deletions
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30
ground/src/plugins/config/configahrswidget.cpp
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@ -35,6 +35,8 @@
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#define sign(x) ((x < 0) ? -1 : 1)
const double ConfigAHRSWidget::maxVarValue = 0.1;
const int ConfigAHRSWidget::calibrationDelay = 5; // Time to wait for the AHRS to do its calibration
@ -330,7 +332,6 @@ void ConfigAHRSWidget::attitudeRawUpdated(UAVObject * obj)
gyro_accum_z.append(gyro_field->getValue(2).toDouble());
}
qDebug() << "Size: " << accel_accum_x.size();
if(accel_accum_x.size() >= 20 && collectingData == true) {
collectingData = false;
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
@ -343,9 +344,6 @@ void ConfigAHRSWidget::attitudeRawUpdated(UAVObject * obj)
mag_data_y[position] = listMean(mag_accum_y);
mag_data_z[position] = listMean(mag_accum_z);
qDebug() << accel_data_x[position] << " " << accel_data_y[position] << " " << accel_data_z[position];
qDebug() << mag_data_x[position] << " " << mag_data_y[position] << " " << mag_data_z[position];
position = (position + 1) % 6;
if(position == 1) {
m_ahrs->sixPointCalibInstructions->append("Place with left side down and click save position...");
@ -529,25 +527,25 @@ void ConfigAHRSWidget::computeScaleBias()
field->setDouble(listMean(gyro_accum_z),2);
field = obj->getField(QString("accel_scale"));
field->setDouble(S[0],0);
field->setDouble(S[1],1);
field->setDouble(S[2],2);
field->setDouble(sign(S[0]) * S[0],0);
field->setDouble(sign(S[1]) * S[1],1);
field->setDouble(-sign(S[2]) * S[2],2);
field = obj->getField(QString("accel_bias"));
field->setDouble(b[0],0);
field->setDouble(b[1],1);
field->setDouble(b[2],2);
field->setDouble(sign(S[0]) * b[0],0);
field->setDouble(sign(S[1]) * b[1],1);
field->setDouble(-sign(S[2]) * b[2],2);
SixPointInConstFieldCal( 1, mag_data_x, mag_data_y, mag_data_z, S, b);
field = obj->getField(QString("mag_scale"));
field->setDouble(S[0],0);
field->setDouble(S[1],1);
field->setDouble(S[2],2);
field->setDouble(sign(S[0]) * S[0],0);
field->setDouble(sign(S[1]) * S[1],1);
field->setDouble(sign(S[2]) * S[2],2);
field = obj->getField(QString("mag_bias"));
field->setDouble(b[0], 0);
field->setDouble(b[1], 1);
field->setDouble(b[2], 2);
field->setDouble(sign(S[0]) * b[0], 0);
field->setDouble(sign(S[1]) * b[1], 1);
field->setDouble(sign(S[2]) * b[2], 2);
field = obj->getField(QString("gyro_bias"));
field->setDouble(-listMean(gyro_accum_x),0);