rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

Merge remote-tracking branch 'origin/hyper/gcs-levelling-fixes' into next

Browse Source
This commit is contained in:
James Cotton 2012-09-11 03:05:47 -05:00
commit 509e7a2ec1
2 changed files with 35 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

53
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -43,7 +43,6 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ui->setupUi(this);
connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
addApplySaveButtons(ui->applyButton,ui->saveButton);
addUAVObject("AttitudeSettings");
@ -64,26 +63,39 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
}
void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
QMutexLocker locker(&startStop);
ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100);
if (!timer.isActive()) {
// ignore updates that come in after the timer has expired
return;
}
Accels * accels = Accels::GetInstance(getObjectManager());
Gyros * gyros = Gyros::GetInstance(getObjectManager());
if(obj->getObjID() == Accels::OBJID && accelUpdates < NUM_SENSOR_UPDATES) {
// Accumulate samples until we have _at least_ NUM_SENSOR_UPDATES samples
// for both gyros and accels.
// Note that, at present, we stash the samples and then compute the bias
// at the end, even though the mean could be accumulated as we go.
// In future, a better algorithm could be used.
if(obj->getObjID() == Accels::OBJID) {
accelUpdates++;
Accels::DataFields accelsData = accels->getData();
x_accum.append(accelsData.x);
y_accum.append(accelsData.y);
z_accum.append(accelsData.z);
} else if (obj->getObjID() == Gyros::OBJID && gyroUpdates < NUM_SENSOR_UPDATES) {
} else if (obj->getObjID() == Gyros::OBJID) {
gyroUpdates++;
Gyros::DataFields gyrosData = gyros->getData();
x_gyro_accum.append(gyrosData.x);
y_gyro_accum.append(gyrosData.y);
z_gyro_accum.append(gyrosData.z);
} else if ( accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
}
// update the progress indicator
ui->zeroBiasProgress->setValue((float) qMin(accelUpdates, gyroUpdates) / NUM_SENSOR_UPDATES * 100);
// If we have enough samples, then stop sampling and compute the biases
if (accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
timer.stop();
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@ -108,14 +120,13 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
} else {
// Possible to get here if weird threading stuff happens. Just ignore updates.
qDebug("Unexpected accel update received.");
// reenable controls
enableControls(true);
}
}
void ConfigCCAttitudeWidget::timeout() {
QMutexLocker locker(&startStop);
UAVDataObject * obj = Accels::GetInstance(getObjectManager());
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@ -131,10 +142,15 @@ void ConfigCCAttitudeWidget::timeout() {
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
// reset progress indicator
ui->zeroBiasProgress->setValue(0);
// reenable controls
enableControls(true);
}
void ConfigCCAttitudeWidget::startAccelCalibration() {
QMutexLocker locker(&startStop);
// disable controls during sampling
enableControls(false);
accelUpdates = 0;
gyroUpdates = 0;
@ -156,28 +172,28 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
connect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
connect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
// Set up timeout timer
timer.start(10000);
connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
// Speed up updates
initialAccelsMdata = accels->getMetadata();
UAVObject::Metadata accelsMdata = initialAccelsMdata;
UAVObject::SetFlightTelemetryUpdateMode(accelsMdata, UAVObject::UPDATEMODE_PERIODIC);
accelsMdata.flightTelemetryUpdatePeriod = 30;
accelsMdata.flightTelemetryUpdatePeriod = 30; // ms
accels->setMetadata(accelsMdata);
initialGyrosMdata = gyros->getMetadata();
UAVObject::Metadata gyrosMdata = initialGyrosMdata;
UAVObject::SetFlightTelemetryUpdateMode(gyrosMdata, UAVObject::UPDATEMODE_PERIODIC);
gyrosMdata.flightTelemetryUpdatePeriod = 30;
gyrosMdata.flightTelemetryUpdatePeriod = 30; // ms
gyros->setMetadata(gyrosMdata);
// Set up timeout timer
timer.setSingleShot(true);
timer.start(5000 + (NUM_SENSOR_UPDATES * qMax(accelsMdata.flightTelemetryUpdatePeriod,
gyrosMdata.flightTelemetryUpdatePeriod)));
connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
}
void ConfigCCAttitudeWidget::openHelp()
{
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) );
}
@ -186,7 +202,6 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
if(ui->zeroBias)
ui->zeroBias->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()

4
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -34,7 +34,6 @@
#include "uavobject.h"
#include <QtGui/QWidget>
#include <QTimer>
#include <QMutex>
class Ui_Widget;
@ -55,7 +54,6 @@ private slots:
void openHelp();
private:
QMutex startStop;
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialAccelsMdata;
@ -67,7 +65,7 @@ private:
QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const int NUM_SENSOR_UPDATES = 60;
static const int NUM_SENSOR_UPDATES = 300;
static const float ACCEL_SCALE = 0.004f * 9.81f;
protected:
virtual void enableControls(bool enable);