mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
OP-1150 UI for thermal calibration: UI fixes and change target gradient to .2
This commit is contained in:
Alessio Morale
parent
57554ec44f
commit
61354eaac9
@ -34,7 +34,8 @@ float CalibrationUtils::ComputeSigma(Eigen::VectorXf *samplesY)
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{
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Eigen::ArrayXd tmpd = samplesY->cast<double>().array();
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double mean = tmpd.mean();
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return (float) sqrt((tmpd - mean).square().mean());
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return (float)sqrt((tmpd - mean).square().mean());
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}
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/*
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@ -97,8 +98,8 @@ bool CalibrationUtils::PolynomialCalibration(VectorXf *samplesX, Eigen::VectorXf
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void CalibrationUtils::ComputePoly(VectorXf *samplesX, Eigen::VectorXf *polynomial, VectorXf *polyY)
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{
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polyY->array().fill(polynomial->coeff(0));
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for(int i = 1; i < polynomial->rows(); i++){
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polyY->array() += samplesX->array().pow(i) * polynomial->coeff(i);
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for (int i = 1; i < polynomial->rows(); i++) {
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polyY->array() += samplesX->array().pow(i) * polynomial->coeff(i);
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}
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}
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@ -36,7 +36,7 @@ void ThermalCalibration::ComputeStats(Eigen::VectorXf *samplesX, Eigen::VectorXf
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OpenPilot::CalibrationUtils::ComputePoly(samplesX, correctionPoly, &bias);
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Eigen::VectorXf rebiasedY(*samplesY);
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rebiasedY.array() -= bias.array();
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*rebiasedSigma = CalibrationUtils::ComputeSigma(&rebiasedY);
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*rebiasedSigma = CalibrationUtils::ComputeSigma(&rebiasedY);
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}
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bool ThermalCalibration::BarometerCalibration(Eigen::VectorXf pressure, Eigen::VectorXf temperature, float *result, float *inputSigma, float *calibratedSigma)
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@ -66,7 +66,7 @@ bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eige
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesX, ACCEL_X_POLY_DEGREE, solution, ACCEL_X_MAX_REL_ERROR)) {
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return false;
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}
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result[0] = solution[1];
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result[0] = solution[1];
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solution[0] = 0;
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ComputeStats(&temperature, &samplesX, &solution, &inputSigma[0], &calibratedSigma[0]);
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@ -75,7 +75,7 @@ bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eige
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesY, ACCEL_Y_POLY_DEGREE, solution, ACCEL_Y_MAX_REL_ERROR)) {
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return false;
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}
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result[1] = solution[1];
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result[1] = solution[1];
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solution[0] = 0;
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ComputeStats(&temperature, &samplesY, &solution, &inputSigma[1], &calibratedSigma[1]);
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@ -84,7 +84,7 @@ bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eige
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesZ, ACCEL_Z_POLY_DEGREE, solution, ACCEL_Z_MAX_REL_ERROR)) {
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return false;
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}
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result[2] = solution[1];
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result[2] = solution[1];
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solution[0] = 0;
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ComputeStats(&temperature, &samplesZ, &solution, &inputSigma[2], &calibratedSigma[2]);
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@ -92,7 +92,6 @@ bool ThermalCalibration::AccelerometerCalibration(Eigen::VectorXf samplesX, Eige
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}
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bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result, float *inputSigma, float *calibratedSigma)
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{
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Eigen::VectorXf solution(GYRO_X_POLY_DEGREE + 1);
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@ -100,7 +99,7 @@ bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::V
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesX, GYRO_X_POLY_DEGREE, solution, GYRO_X_MAX_REL_ERROR)) {
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return false;
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}
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result[0] = solution[1];
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result[0] = solution[1];
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solution[0] = 0;
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ComputeStats(&temperature, &samplesX, &solution, &inputSigma[0], &calibratedSigma[0]);
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@ -109,7 +108,7 @@ bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::V
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesY, GYRO_Y_POLY_DEGREE, solution, GYRO_Y_MAX_REL_ERROR)) {
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return false;
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}
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result[1] = solution[1];
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result[1] = solution[1];
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solution[0] = 0;
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ComputeStats(&temperature, &samplesY, &solution, &inputSigma[1], &calibratedSigma[1]);
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@ -117,8 +116,8 @@ bool ThermalCalibration::GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::V
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if (!CalibrationUtils::PolynomialCalibration(&temperature, &samplesZ, GYRO_Z_POLY_DEGREE, solution, GYRO_Z_MAX_REL_ERROR)) {
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return false;
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}
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result[2] = solution[1];
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result[3] = solution[2];
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result[2] = solution[1];
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result[3] = solution[2];
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solution[0] = 0;
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std::cout << solution << std::endl;
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ComputeStats(&temperature, &samplesZ, &solution, &inputSigma[2], &calibratedSigma[2]);
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@ -68,12 +68,12 @@ bool ThermalCalibrationHelper::setupBoardForCalibration()
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// Clean up any gyro/accel correction before calibrating
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AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(objManager);
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Q_ASSERT(accelGyroSettings);
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AccelGyroSettings::DataFields data = accelGyroSettings->getData();
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for(int i = 0; i < AccelGyroSettings::ACCEL_TEMP_COEFF_NUMELEM; i++){
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AccelGyroSettings::DataFields data = accelGyroSettings->getData();
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for (int i = 0; i < AccelGyroSettings::ACCEL_TEMP_COEFF_NUMELEM; i++) {
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data.accel_temp_coeff[i] = 0.0f;
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}
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for(int i = 0; i < AccelGyroSettings::GYRO_TEMP_COEFF_NUMELEM; i++){
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for (int i = 0; i < AccelGyroSettings::GYRO_TEMP_COEFF_NUMELEM; i++) {
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data.gyro_temp_coeff[i] = 0.0f;
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}
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@ -335,16 +335,16 @@ void ThermalCalibrationHelper::calculate()
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qDebug() << QStringLiteral("Calibration results");
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qDebug() << QStringLiteral("Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
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.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
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.arg(m_results.baroInSigma).arg(m_results.baroOutSigma);
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.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
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.arg(m_results.baroInSigma).arg(m_results.baroOutSigma);
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qDebug() << QStringLiteral("Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
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.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3])
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.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
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.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]);
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.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3])
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.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
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.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]);
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qDebug() << QStringLiteral("Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
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.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
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.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
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.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]);
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.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
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.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
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.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]);
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copyResultToSettings();
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emit calculationCompleted();
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}
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@ -356,7 +356,7 @@ void ThermalCalibrationHelper::updateTemp(float temp)
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int elapsed = m_startTime.secsTo(QTime::currentTime());
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int secondsSinceLastCheck = m_lastCheckpointTime.secsTo(QTime::currentTime());
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m_temperature = m_temperature * 0.9f + temp * 0.1f;
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m_temperature = m_temperature * 0.95f + temp * 0.05f;
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emit temperatureChanged(m_temperature);
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if (secondsSinceLastCheck > TimeBetweenCheckpoints) {
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@ -467,6 +467,7 @@ void ThermalCalibrationHelper::copyResultToSettings()
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accelGyroSettings->setData(data);
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accelGyroSettings->updated();
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}
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setProcessPercentage(100.0f);
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}
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void ThermalCalibrationHelper::setMetadataForCalibration(UAVDataObject *uavo)
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@ -175,7 +175,7 @@ private:
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const static int ProcessPercentageBaseAcquisition = 15;
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const static int ProcessPercentageBaseCalculation = 85;
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const static int ProcessPercentageSaveResults = 95;
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const static float TargetGradient = 0.35f;
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const static float TargetGradient = 0.20f;
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int m_targetduration;
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int m_processPercentage;
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@ -114,7 +114,7 @@ public slots:
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}
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void setTemperatureGradient(float status)
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{
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QString tmp = QString("%1 %2").arg(status, 5, 'f', 2);
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QString tmp = QString("%1").arg(status, 5, 'f', 2);
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if (m_temperatureGradient != tmp) {
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m_temperatureGradient = tmp;
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@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>808</width>
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<height>510</height>
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<height>515</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -30,299 +30,6 @@
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<string>Calibration</string>
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,0">
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<item>
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<layout class="QHBoxLayout" name="sixPointLayout" stretch="1,2">
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<item>
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<widget class="QFrame" name="frame">
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<property name="frameShape">
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<enum>QFrame::Box</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Sunken</enum>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<property name="leftMargin">
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<number>3</number>
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</property>
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<property name="topMargin">
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<number>3</number>
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</property>
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<property name="rightMargin">
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<number>3</number>
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</property>
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<property name="bottomMargin">
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<number>3</number>
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</property>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_2">
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<item>
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<widget class="QLabel" name="label_3">
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<property name="font">
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<font>
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<weight>50</weight>
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<bold>false</bold>
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</font>
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</property>
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<property name="text">
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<string>#1: Magnetometer calibration</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_3">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGraphicsView" name="sixPointsHelp">
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<property name="toolTip">
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<string>Nice paper plane, eh?</string>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_4">
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<item>
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<widget class="QPushButton" name="sixPointsStart">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>Launch a sensor range and bias calibration.</string>
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</property>
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<property name="text">
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<string>Start</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="sixPointsSave">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>Save settings (only enabled when calibration is running)</string>
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</property>
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<property name="text">
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<string>Save Position</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QFrame" name="frame_2">
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<property name="frameShape">
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<enum>QFrame::Box</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Sunken</enum>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_10">
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<property name="leftMargin">
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<number>3</number>
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</property>
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<property name="topMargin">
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<number>3</number>
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</property>
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<property name="rightMargin">
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<number>3</number>
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</property>
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<property name="bottomMargin">
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<number>3</number>
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</property>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_8">
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<item>
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<widget class="QLabel" name="label">
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<property name="font">
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<font>
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<weight>50</weight>
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<bold>false</bold>
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</font>
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</property>
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<property name="text">
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<string>#2: Sensor noise calibration</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_4">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGraphicsView" name="sensorsBargraph">
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<property name="toolTip">
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<string>These are the sensor variance values computed by the AHRS.
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Tip: lower is better!</string>
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</property>
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<property name="verticalScrollBarPolicy">
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<enum>Qt::ScrollBarAlwaysOff</enum>
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</property>
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<property name="horizontalScrollBarPolicy">
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<enum>Qt::ScrollBarAlwaysOff</enum>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QPushButton" name="noiseMeasurementStart">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>Press to start a calibration procedure, about 15 seconds.
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Hint: run this with engines at cruising speed.</string>
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</property>
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<property name="text">
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<string>Start</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QProgressBar" name="noiseMeasurementProgress">
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<property name="enabled">
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<bool>true</bool>
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</property>
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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<property name="textVisible">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="sensorNoiseLayout">
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<item>
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<widget class="QFrame" name="frame_3">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Raised</enum>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<property name="leftMargin">
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<number>3</number>
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</property>
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<property name="topMargin">
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<number>3</number>
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</property>
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<property name="rightMargin">
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<number>3</number>
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</property>
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<property name="bottomMargin">
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<number>3</number>
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</property>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#3: Accelerometer Bias calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<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>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QPushButton" name="accelBiasStart">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QProgressBar" name="accelBiasProgress">
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="sensorNoiseLayout">
|
||||
<item>
|
||||
@ -359,7 +66,7 @@ Hint: run this with engines at cruising speed.</string>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#4: Thermal calibration</string>
|
||||
<string>#1: Thermal calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -517,7 +224,300 @@ Hint: run this with engines at cruising speed.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="sixPointLayout" stretch="1,2">
|
||||
<item>
|
||||
<widget class="QFrame" name="frame">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::Box</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Sunken</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_9">
|
||||
<property name="leftMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#2: Magnetometer calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<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="QGraphicsView" name="sixPointsHelp">
|
||||
<property name="toolTip">
|
||||
<string>Nice paper plane, eh?</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QPushButton" name="sixPointsStart">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Launch a sensor range and bias calibration.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="sixPointsSave">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Save settings (only enabled when calibration is running)</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save Position</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_2">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::Box</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Sunken</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<property name="leftMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_8">
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#3: Sensor noise calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<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="QGraphicsView" name="sensorsBargraph">
|
||||
<property name="toolTip">
|
||||
<string>These are the sensor variance values computed by the AHRS.
|
||||
|
||||
Tip: lower is better!</string>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
<property name="horizontalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QPushButton" name="noiseMeasurementStart">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Press to start a calibration procedure, about 15 seconds.
|
||||
|
||||
Hint: run this with engines at cruising speed.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QProgressBar" name="noiseMeasurementProgress">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="sensorNoiseLayout">
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_3">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<property name="leftMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>#4: Accelerometer Bias calibration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<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>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QPushButton" name="accelBiasStart">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Start</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QProgressBar" name="accelBiasProgress">
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
@ -543,7 +543,12 @@ 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:11pt; font-weight:600;">Help</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;">Step #1 and #2 are really necessary. Step #3 will help you achieve the best possible results.</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;">Step #1 and #2 and 3 are really necessary. Step #4 will help you achieve the best possible results.</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:11pt;">#1: 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:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm 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. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</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:11pt;">#1: Multi-Point 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:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user