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Code Issues Releases Activity

AHRS: Get calibration working again

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-02 03:10:04 +00:00 committed by peabody124
parent 0c30101f54
commit 5c9b5f4a99
7 changed files with 5 additions and 17 deletions
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6
flight/AHRS/ahrs.c
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@ -779,12 +779,6 @@ void calibration_callback(AhrsObjHandle obj)
} }
}else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE){ }else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE){
calibrate_sensors(); calibrate_sensors();
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
AHRSCalibrationSet(&cal);
}else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_ECHO){
send_calibration(); send_calibration();
} }
} }

2
flight/OpenPilot/UAVObjects/inc/ahrscalibration.h
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@ -87,7 +87,7 @@ typedef struct {
// Field information // Field information
// Field measure_var information // Field measure_var information
/* Enumeration options for field measure_var */ /* Enumeration options for field measure_var */
typedef enum { AHRSCALIBRATION_MEASURE_VAR_SET=0, AHRSCALIBRATION_MEASURE_VAR_MEASURE=1, AHRSCALIBRATION_MEASURE_VAR_ECHO=2 } AHRSCalibrationmeasure_varOptions; typedef enum { AHRSCALIBRATION_MEASURE_VAR_SET=0, AHRSCALIBRATION_MEASURE_VAR_MEASURE=1 } AHRSCalibrationmeasure_varOptions;
// Field accel_bias information // Field accel_bias information
/* Array element names for field accel_bias */ /* Array element names for field accel_bias */
typedef enum { AHRSCALIBRATION_ACCEL_BIAS_X=0, AHRSCALIBRATION_ACCEL_BIAS_Y=1, AHRSCALIBRATION_ACCEL_BIAS_Z=2 } AHRSCalibrationaccel_biasElem; typedef enum { AHRSCALIBRATION_ACCEL_BIAS_X=0, AHRSCALIBRATION_ACCEL_BIAS_Y=1, AHRSCALIBRATION_ACCEL_BIAS_Z=2 } AHRSCalibrationaccel_biasElem;

8
ground/src/plugins/config/configahrswidget.cpp
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@ -279,13 +279,9 @@ void ConfigAHRSWidget::calibPhase2()
m_ahrs->calibInstructions->setText("Getting results..."); m_ahrs->calibInstructions->setText("Getting results...");
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2())); connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
// We need to echo back the results of calibration before changing to set mode // We need to echo back the results of calibration before changing to set mode
field->setValue("ECHO"); obj->requestUpdate();
obj->updated();
break; break;
case 1: // this is where we end up with the update just above case 1: // This is the update with the right values (coming from the board)
phaseCounter++;
break;
case 2: // This is the update with the right values (coming from the board)
disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2())); disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
// Now update size of all the graphs // Now update size of all the graphs
drawVariancesGraph(); drawVariancesGraph();

1
ground/src/plugins/uavobjects/ahrscalibration.cpp
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@ -47,7 +47,6 @@ AHRSCalibration::AHRSCalibration(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
QStringList measure_varEnumOptions; QStringList measure_varEnumOptions;
measure_varEnumOptions.append("SET"); measure_varEnumOptions.append("SET");
measure_varEnumOptions.append("MEASURE"); measure_varEnumOptions.append("MEASURE");
measure_varEnumOptions.append("ECHO");
fields.append( new UAVObjectField(QString("measure_var"), QString(""), UAVObjectField::ENUM, measure_varElemNames, measure_varEnumOptions) ); fields.append( new UAVObjectField(QString("measure_var"), QString(""), UAVObjectField::ENUM, measure_varElemNames, measure_varEnumOptions) );
QStringList accel_biasElemNames; QStringList accel_biasElemNames;
accel_biasElemNames.append("X"); accel_biasElemNames.append("X");

2
ground/src/plugins/uavobjects/ahrscalibration.h
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@ -59,7 +59,7 @@ public:
// Field information // Field information
// Field measure_var information // Field measure_var information
/* Enumeration options for field measure_var */ /* Enumeration options for field measure_var */
typedef enum { MEASURE_VAR_SET=0, MEASURE_VAR_MEASURE=1, MEASURE_VAR_ECHO=2 } measure_varOptions; typedef enum { MEASURE_VAR_SET=0, MEASURE_VAR_MEASURE=1 } measure_varOptions;
// Field accel_bias information // Field accel_bias information
/* Array element names for field accel_bias */ /* Array element names for field accel_bias */
typedef enum { ACCEL_BIAS_X=0, ACCEL_BIAS_Y=1, ACCEL_BIAS_Z=2 } accel_biasElem; typedef enum { ACCEL_BIAS_X=0, ACCEL_BIAS_Y=1, ACCEL_BIAS_Z=2 } accel_biasElem;

1
ground/src/plugins/uavobjects/ahrscalibration.py
View File

@ -47,7 +47,6 @@ _fields = [ \
{ {
'0' : 'SET', '0' : 'SET',
'1' : 'MEASURE', '1' : 'MEASURE',
'2' : 'ECHO',
} }
), ),
uavobject.UAVObjectField( uavobject.UAVObjectField(

2
ground/src/shared/uavobjectdefinition/ahrscalibration.xml
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@ -1,7 +1,7 @@
<xml> <xml>
<object name="AHRSCalibration" singleinstance="true" settings="true"> <object name="AHRSCalibration" singleinstance="true" settings="true">
<description>Contains the calibration settings for the @ref AHRSCommsModule</description> <description>Contains the calibration settings for the @ref AHRSCommsModule</description>
<field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE,ECHO" defaultvalue="SET"/> <field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
<field name="accel_bias" units="raw" type="float" elementnames="X,Y,Z" defaultvalue="24"/> <field name="accel_bias" units="raw" type="float" elementnames="X,Y,Z" defaultvalue="24"/>
<field name="accel_scale" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0.012"/> <field name="accel_scale" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0.012"/>
<field name="accel_var" units="m^2/s^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/> <field name="accel_var" units="m^2/s^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>