mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-30 15:52:12 +01:00
OP-1351 thermal calibration step now uses instruction panel like all other steps (WIP).
Display of temp and temp variation currently broken.
This commit is contained in:
Philippe Renon
parent
e8b7a025ba
commit
4feaa72998
@ -37,8 +37,9 @@
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#include "calibration/calibrationuiutils.h"
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static const int LEVEL_SAMPLES = 100;
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#include "gyrobiascalibrationmodel.h"
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namespace OpenPilot {
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GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) :
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QObject(parent),
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collectingData(false)
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@ -70,7 +71,7 @@ void GyroBiasCalibrationModel::start()
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attitudeSettings->updated();
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
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displayInstructions(tr("Calibrating the gyroscopes. Keep the copter/plane steady..."), true);
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displayInstructions(tr("Calibrating the gyroscopes. Keep the copter/plane steady..."), WizardModel::Notice, true);
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gyro_accum_x.clear();
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gyro_accum_y.clear();
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@ -196,7 +197,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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gyroState->setMetadata(initialGyroStateMdata);
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gyroSensor->setMetadata(initialGyroSensorMdata);
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displayInstructions(tr("Gyroscope calibration computed succesfully."), false);
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displayInstructions(tr("Gyroscope calibration completed succesfully."));
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displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
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// Recall saved board rotation
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@ -29,27 +29,35 @@
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#ifndef GYROBIASCALIBRATIONMODEL_H
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#define GYROBIASCALIBRATIONMODEL_H
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#include <QObject>
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#include "wizardmodel.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include <QObject>
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namespace OpenPilot {
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class GyroBiasCalibrationModel : public QObject {
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Q_OBJECT
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public:
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explicit GyroBiasCalibrationModel(QObject *parent = 0);
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signals:
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void displayVisualHelp(QString elementID);
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void displayInstructions(QString instructions, bool replace);
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void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info, bool clear = false);
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void disableAllCalibrations();
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void enableAllCalibrations();
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void storeAndClearBoardRotation();
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void recallBoardRotation();
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void progressChanged(int value);
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public slots:
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// Slots for gyro bias zero
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void start();
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private slots:
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void getSample(UAVObject *obj);
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@ -69,4 +77,5 @@ private:
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UAVObjectManager *getObjectManager();
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};
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}
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#endif // GYROBIASCALIBRATIONMODEL_H
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@ -32,7 +32,9 @@
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#include "calibration/calibrationuiutils.h"
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static const int LEVEL_SAMPLES = 100;
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namespace OpenPilot {
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LevelCalibrationModel::LevelCalibrationModel(QObject *parent) :
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QObject(parent)
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{}
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@ -62,7 +64,7 @@ void LevelCalibrationModel::start()
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attitudeState->setMetadata(mdata);
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/* Show instructions and enable controls */
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displayInstructions(tr("Place horizontally and click Save Position button..."), true);
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displayInstructions(tr("Place horizontally and click Save Position button..."), WizardModel::Info, true);
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
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disableAllCalibrations();
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savePositionEnabledChanged(true);
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@ -86,7 +88,7 @@ void LevelCalibrationModel::savePosition()
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Q_ASSERT(attitudeState);
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connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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displayInstructions(tr("Hold..."), false);
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displayInstructions(tr("Hold..."));
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}
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/**
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@ -130,7 +132,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj)
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rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch);
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rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll);
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displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click Save Position button..."), false);
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displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click Save Position button..."));
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displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD);
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disableAllCalibrations();
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@ -146,7 +148,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj)
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compute();
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enableAllCalibrations();
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displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
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displayInstructions(tr("Board leveling computed successfully."), false);
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displayInstructions(tr("Board leveling completed successfully."));
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break;
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}
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}
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@ -28,36 +28,43 @@
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#ifndef LEVELCALIBRATIONMODEL_H
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#define LEVELCALIBRATIONMODEL_H
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#include <QObject>
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#include <QMutex>
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#include <QList>
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#include "wizardmodel.h"
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#include "calibration/calibrationutils.h"
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#include <revocalibration.h>
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#include <accelgyrosettings.h>
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#include <homelocation.h>
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#include <accelstate.h>
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#include <magstate.h>
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#include <QObject>
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#include <QMutex>
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#include <QList>
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namespace OpenPilot {
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class LevelCalibrationModel : public QObject {
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Q_OBJECT
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public:
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explicit LevelCalibrationModel(QObject *parent = 0);
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signals:
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void displayVisualHelp(QString elementID);
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void displayInstructions(QString instructions, bool replace);
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void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info, bool clear = false);
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void disableAllCalibrations();
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void enableAllCalibrations();
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void savePositionEnabledChanged(bool state);
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void progressChanged(int value);
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public slots:
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// Slots for calibrating the mags
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void start();
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void savePosition();
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private slots:
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void getSample(UAVObject *obj);
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void compute();
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private:
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QMutex sensorsUpdateLock;
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int position;
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@ -71,4 +78,5 @@ private:
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UAVObjectManager *getObjectManager();
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};
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}
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#endif // LEVELCALIBRATIONMODEL_H
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@ -26,18 +26,22 @@
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "sixpointcalibrationmodel.h"
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#include <QThread>
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#include "extensionsystem/pluginmanager.h"
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#include <QMessageBox>
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#include "math.h"
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#include "calibration/calibrationuiutils.h"
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#include "math.h"
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#include <QMessageBox>
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#include <QThread>
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#include "QDebug"
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#define POINT_SAMPLE_SIZE 50
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#define GRAVITY 9.81f
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#define sign(x) ((x < 0) ? -1 : 1)
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#define FITTING_USING_CONTINOUS_ACQUISITION
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namespace OpenPilot {
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SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
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QObject(parent),
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calibrationStepsMag(),
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@ -195,7 +199,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
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}
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/* Show instructions and enable controls */
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displayInstructions((*currentSteps)[0].instructions, true);
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displayInstructions((*currentSteps)[0].instructions, WizardModel::Info, true);
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showHelp((*currentSteps)[0].visualHelp);
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disableAllCalibrations();
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@ -244,7 +248,7 @@ void SixPointCalibrationModel::savePositionData()
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connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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}
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displayInstructions(tr("Hold..."), false);
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displayInstructions(tr("Hold..."));
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}
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/**
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@ -310,7 +314,7 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
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position = (position + 1) % 6;
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if (position != 0) {
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displayInstructions((*currentSteps)[position].instructions, false);
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displayInstructions((*currentSteps)[position].instructions);
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showHelp((*currentSteps)[position].visualHelp);
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} else {
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#ifdef FITTING_USING_CONTINOUS_ACQUISITION
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@ -484,9 +488,9 @@ void SixPointCalibrationModel::compute(bool mag, bool accel)
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} else {
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accelGyroSettings->setData(savedSettings.accelGyroSettings);
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}
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displayInstructions(tr("Sensor scale and bias computed succesfully."), true);
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displayInstructions(tr("Sensor scale and bias computed succesfully."));
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} else {
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displayInstructions(tr("Bad calibration. Please review the instructions and repeat."), true);
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displayInstructions(tr("Bad calibration. Please review the instructions and repeat."), WizardModel::Error);
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}
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position = -1; // set to run again
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}
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@ -27,17 +27,22 @@
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*/
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#ifndef SIXPOINTCALIBRATIONMODEL_H
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#define SIXPOINTCALIBRATIONMODEL_H
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#include <QMutex>
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#include <QObject>
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#include <QList>
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#include "wizardmodel.h"
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#include "calibration/calibrationutils.h"
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#include <QString>
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#include <revocalibration.h>
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#include <accelgyrosettings.h>
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#include <homelocation.h>
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#include <accelstate.h>
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#include <magstate.h>
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#include <QMutex>
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#include <QObject>
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#include <QList>
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#include <QString>
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namespace OpenPilot {
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class SixPointCalibrationModel : public QObject {
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Q_OBJECT
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@ -61,7 +66,7 @@ public:
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signals:
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void displayVisualHelp(QString elementID);
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void displayInstructions(QString instructions, bool replace);
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void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info, bool clear = false);
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void disableAllCalibrations();
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void enableAllCalibrations();
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void storeAndClearBoardRotation();
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@ -33,6 +33,7 @@
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#include "compensationcalculationtransition.h"
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namespace OpenPilot {
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ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
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WizardModel(parent),
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m_startEnabled(false),
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@ -41,7 +42,7 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
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m_initDone(false)
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{
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m_helper.reset(new ThermalCalibrationHelper());
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m_readyState = new WizardState(tr("Start"), this),
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m_readyState = new WizardState("", this),
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m_workingState = new WizardState(NULL, this);
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m_saveSettingState = new WizardState(tr("Saving initial settings"), m_workingState);
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@ -66,10 +67,12 @@ ThermalCalibrationModel::ThermalCalibrationModel(QObject *parent) :
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connect(m_readyState, SIGNAL(exited()), this, SLOT(wizardStarted()));
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connect(m_completedState, SIGNAL(entered()), this, SLOT(wizardReady()));
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connect(m_completedState, SIGNAL(exited()), this, SLOT(wizardStarted()));
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this->setInitialState(m_readyState);
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setInitialState(m_readyState);
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m_steps << m_readyState << m_saveSettingState << m_setupState << m_acquisitionState << m_restoreState << m_calculateState;
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}
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void ThermalCalibrationModel::init()
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{
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if (!m_initDone) {
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@ -80,7 +83,6 @@ void ThermalCalibrationModel::init()
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start();
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setTemperature(0);
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setTemperatureGradient(0);
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emit instructionsChanged(instructions());
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}
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}
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@ -115,4 +117,5 @@ void ThermalCalibrationModel::setTransitions()
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m_workingState->addTransition(this, SIGNAL(abort()), m_abortState);
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// Ready
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}
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}
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@ -37,7 +37,9 @@
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#include <QStateMachine>
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#include "../wizardstate.h"
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#include "../wizardmodel.h"
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namespace OpenPilot {
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class ThermalCalibrationModel : public WizardModel {
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Q_PROPERTY(bool startEnable READ startEnabled NOTIFY startEnabledChanged)
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Q_PROPERTY(bool endEnable READ endEnabled NOTIFY endEnabledChanged)
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@ -47,6 +49,7 @@ class ThermalCalibrationModel : public WizardModel {
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Q_PROPERTY(QString temperatureGradient READ temperatureGradient NOTIFY temperatureGradientChanged)
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Q_PROPERTY(int progress READ progress WRITE setProgress NOTIFY progressChanged)
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Q_OBJECT
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public:
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explicit ThermalCalibrationModel(QObject *parent = 0);
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@ -181,19 +184,19 @@ signals:
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void next();
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void previous();
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void abort();
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public slots:
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public slots:
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void stepChanged(WizardState *state);
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void init();
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void btnStart()
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{
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setInstructions("");
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emit next();
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}
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void btnEnd()
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{
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m_helper->stopAcquisition();
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}
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void btnAbort()
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{
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emit abort();
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@ -35,9 +35,11 @@
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class WizardModel : public QStateMachine {
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Q_OBJECT Q_PROPERTY(QQmlListProperty<QObject> steps READ steps CONSTANT)
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Q_PROPERTY(QString instructions READ instructions NOTIFY instructionsChanged)
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//Q_PROPERTY(QString instructions READ instructions NOTIFY instructionsChanged)
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Q_PROPERTY(WizardState * currentState READ currentState NOTIFY currentStateChanged)
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public:
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enum MessageType { Info, Notice, Warning, Error };
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explicit WizardModel(QObject *parent = 0);
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QQmlListProperty<QObject> steps()
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@ -45,25 +47,28 @@ public:
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return QQmlListProperty<QObject>(this, m_steps);
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}
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QString instructions()
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QString &instructions()
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{
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return m_instructions;
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}
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void setInstructions(QString instructions)
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void setInstructions(QString text, MessageType type = WizardModel::Info)
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{
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m_instructions = instructions;
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emit instructionsChanged(instructions);
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m_instructions = text;
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emit displayInstructions(text, type);
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}
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WizardState *currentState();
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protected:
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QList<QObject *> m_steps;
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private:
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QString m_instructions;
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signals:
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void instructionsChanged(QString status);
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void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info, bool clear = false);
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void currentStateChanged(WizardState *status);
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public slots:
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};
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#endif // WIZARDMODEL_H
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@ -94,6 +94,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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// connect the thermalCalibration model to UI
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m_thermalCalibrationModel = new OpenPilot::ThermalCalibrationModel(this);
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m_thermalCalibrationModel->init();
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connect(m_ui->ThermalBiasStart, SIGNAL(clicked()), m_thermalCalibrationModel, SLOT(btnStart()));
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connect(m_ui->ThermalBiasEnd, SIGNAL(clicked()), m_thermalCalibrationModel, SLOT(btnEnd()));
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@ -103,9 +104,10 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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connect(m_thermalCalibrationModel, SIGNAL(endEnabledChanged(bool)), m_ui->ThermalBiasEnd, SLOT(setEnabled(bool)));
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connect(m_thermalCalibrationModel, SIGNAL(cancelEnabledChanged(bool)), m_ui->ThermalBiasCancel, SLOT(setEnabled(bool)));
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connect(m_thermalCalibrationModel, SIGNAL(instructionsChanged(QString)), m_ui->label_thermalDescription, SLOT(setText(QString)));
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connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(QString)), m_ui->textTemperature, SLOT(setText(QString)));
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connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(QString)), m_ui->textThermalGradient, SLOT(setText(QString)));
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connect(m_thermalCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType)),
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this, SLOT(displayInstructions(QString, WizardModel::MessageType)));
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// connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(QString)), m_ui->textTemperature, SLOT(setText(QString)));
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// connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(QString)), m_ui->textThermalGradient, SLOT(setText(QString)));
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connect(m_thermalCalibrationModel, SIGNAL(progressChanged(int)), m_ui->thermalBiasProgress, SLOT(setValue(int)));
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// note: init for m_thermalCalibrationModel is done in showEvent to prevent cases wiht "Start" button not enabled due to some itming issue.
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@ -119,7 +121,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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connect(m_sixPointCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations()));
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connect(m_sixPointCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation()));
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connect(m_sixPointCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation()));
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connect(m_sixPointCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool)));
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connect(m_sixPointCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType, bool)),
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this, SLOT(displayInstructions(QString, WizardModel::MessageType, bool)));
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connect(m_sixPointCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
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connect(m_sixPointCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->sixPointsSave, SLOT(setEnabled(bool)));
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@ -130,7 +133,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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connect(m_levelCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations()));
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connect(m_levelCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations()));
|
||||
connect(m_levelCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool)));
|
||||
connect(m_levelCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType, bool)),
|
||||
this, SLOT(displayInstructions(QString, WizardModel::MessageType, bool)));
|
||||
connect(m_levelCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
|
||||
connect(m_levelCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->boardLevelSavePos, SLOT(setEnabled(bool)));
|
||||
connect(m_levelCalibrationModel, SIGNAL(progressChanged(int)), this->m_ui->boardLevelProgress, SLOT(setValue(int)));
|
||||
@ -146,7 +150,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations()));
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation()));
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation()));
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool)));
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, WizardModel::MessageType, bool)),
|
||||
this, SLOT(displayInstructions(QString, WizardModel::MessageType, bool)));
|
||||
connect(m_gyroBiasCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
|
||||
|
||||
|
||||
@ -170,12 +175,10 @@ ConfigRevoWidget::~ConfigRevoWidget()
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
|
||||
void ConfigRevoWidget::showEvent(QShowEvent *event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
updateVisualHelp();
|
||||
m_thermalCalibrationModel->init();
|
||||
}
|
||||
|
||||
void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
|
||||
@ -237,13 +240,24 @@ void ConfigRevoWidget::displayVisualHelp(QString elementID)
|
||||
updateVisualHelp();
|
||||
}
|
||||
|
||||
void ConfigRevoWidget::displayInstructions(QString instructions, bool replace)
|
||||
void ConfigRevoWidget::displayInstructions(QString text, WizardModel::MessageType type, bool clear)
|
||||
{
|
||||
if (replace || instructions.isNull()) {
|
||||
if (clear || text.isEmpty()) {
|
||||
m_ui->calibrationInstructions->clear();
|
||||
}
|
||||
if (!instructions.isNull()) {
|
||||
m_ui->calibrationInstructions->append(instructions);
|
||||
if (!text.isNull()) {
|
||||
switch(type) {
|
||||
case WizardModel::Error:
|
||||
text = QString("<font color='red'>%1</font>").arg(text);
|
||||
break;
|
||||
case WizardModel::Notice:
|
||||
text = QString("<font color='blue'>%1</font>").arg(text);
|
||||
break;
|
||||
case WizardModel::Info:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
m_ui->calibrationInstructions->append(text);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -29,7 +29,6 @@
|
||||
|
||||
#include "ui_revosensors.h"
|
||||
#include "configtaskwidget.h"
|
||||
#include "../uavobjectwidgetutils/configtaskwidget.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
@ -69,7 +68,7 @@ private slots:
|
||||
void displayVisualHelp(QString elementID);
|
||||
void storeAndClearBoardRotation();
|
||||
void recallBoardRotation();
|
||||
void displayInstructions(QString instructions = QString(), bool replace = false);
|
||||
void displayInstructions(QString instructions, WizardModel::MessageType type = WizardModel::Info, bool clear = false);
|
||||
|
||||
// ! Overriden method from the configTaskWidget to update UI
|
||||
virtual void refreshWidgetsValues(UAVObject *object = NULL);
|
||||
|
||||
@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>789</width>
|
||||
<height>674</height>
|
||||
<width>1014</width>
|
||||
<height>725</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@ -215,106 +215,9 @@
|
||||
<item row="3" column="0">
|
||||
<widget class="QGroupBox" name="step4GroupBox">
|
||||
<property name="title">
|
||||
<string>Step 4: Thermal calibration*</string>
|
||||
<string>Step 4: Thermal calibration</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout">
|
||||
<item>
|
||||
<layout class="QHBoxLayout">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_temperature">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Temperature</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="textTemperature">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<italic>true</italic>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0.00</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_thermalcal1">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>°C - Temperature rise</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="textThermalGradient">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<italic>true</italic>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0.5</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_thermalcal2">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>°C/min</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_thermalbias">
|
||||
<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>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_thermalDescription">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><this contains the current status of the thermal calibration wizard></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_thermalbias2">
|
||||
<item>
|
||||
@ -371,6 +274,19 @@
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="temperatureLabel">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><temperature information></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@ -428,12 +344,22 @@
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOn</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QAbstractScrollArea::AdjustToContents</enum>
|
||||
</property>
|
||||
<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:'MS Shell Dlg 2'; font-size:10pt; font-weight:600; 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;"><br /></p></body></html></string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
@ -460,24 +386,31 @@ p, li { white-space: pre-wrap; }
|
||||
<tr>
|
||||
<td style="border: none;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">Help</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Steps 1, 2 and 3 are necessary. Step 4 is optional but may help achieve the best possible results.</span></p>
|
||||
<p align="center" 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:'Ubuntu'; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">Step 1: Accelerometer / magnetometer calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;">Step 1: Accelerometer / magnetometer calibration</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> Your </span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-family:'Ubuntu'; font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Note 1</span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> </span><span style=" font-family:'Ubuntu'; font-size:11pt; text-decoration: underline;">Your HomeLocation must be set first</span><span style=" font-family:'Ubuntu'; font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Note 2</span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> There is no need to point exactly at South/North/West/East. These are just used to easily tells the user how to point the plane/craft. </span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p>
|
||||
<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:'Ubuntu'; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">Step 2: Board level calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;">Step 2: Board level calibration</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
|
||||
<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:'Ubuntu'; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">Step 3: Gyro Bias calculation</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;">Step 3: Gyro bias calculation</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p>
|
||||
<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:'Ubuntu'; font-size:11pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">Step 4: Thermal Calibration</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:12pt; font-weight:600; font-style:italic;">Step 4: Thermal calibration</span></p>
|
||||
<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-size:8pt;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available.</span></p>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user