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OP-36: Forgot some files with previous commit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3092 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124
peabody124
parent
e70fe52966
commit
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58
ground/openpilotgcs/src/plugins/config/ccattitude.ui
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58
ground/openpilotgcs/src/plugins/config/ccattitude.ui
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>ccattitude</class>
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<widget class="QWidget" name="ccattitude">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>400</width>
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<height>300</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<widget class="QWidget" name="horizontalLayoutWidget">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>40</y>
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<width>281</width>
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<height>32</height>
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</rect>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QPushButton" name="zeroBias">
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<property name="text">
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<string>Zero Accel Bias</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="zeroBiasProgress">
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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<widget class="QLabel" name="label">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>20</y>
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<width>281</width>
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<height>16</height>
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</rect>
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</property>
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<property name="text">
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<string>Place aircraft flat before computing</string>
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</property>
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</widget>
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</widget>
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<resources/>
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<connections/>
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</ui>
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/**
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******************************************************************************
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*
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* @file configccattitudewidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief Configure Attitude module on CopterControl
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "configccattitudewidget.h"
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#include "ui_ccattitude.h"
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#include <QMutexLocker>
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#include <QErrorMessage>
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#include <QDebug>
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ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
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ConfigTaskWidget(parent),
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ui(new Ui_ccattitude)
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{
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ui->setupUi(this);
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connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
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}
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ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
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{
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delete ui;
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}
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void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
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QMutexLocker locker(&startStop);
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UAVDataObject * attitudeRaw = dynamic_cast<UAVDataObject*>(obj);
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ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
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if(updates < NUM_ACCEL_UPDATES) {
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updates++;
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UAVObjectField * field = obj->getField(QString("accels"));
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x_accum.append(field->getDouble(0));
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y_accum.append(field->getDouble(1));
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z_accum.append(field->getDouble(2));
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} else {
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timer.stop();
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disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
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disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
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float x_bias = listMean(x_accum) / ACCEL_SCALE;
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float y_bias = listMean(y_accum) / ACCEL_SCALE;
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float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
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obj->setMetadata(initialMdata);
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UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
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UAVObjectField * field = settings->getField("AccelBias");
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field->setDouble(field->getDouble(0) + x_bias,0);
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field->setDouble(field->getDouble(1) + y_bias,1);
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field->setDouble(field->getDouble(2) + z_bias,2);
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settings->updated();
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}
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}
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void ConfigCCAttitudeWidget::timeout() {
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QMutexLocker locker(&startStop);
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UAVObjectManager * objMngr = getObjectManager();
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
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disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
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disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
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QErrorMessage errmsg;
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errmsg.showMessage("Calibration timed out before receiving required updates");
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errmsg.exec();
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}
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void ConfigCCAttitudeWidget::startAccelCalibration() {
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QMutexLocker locker(&startStop);
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qDebug() << "Click";
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updates = 0;
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x_accum.clear();
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y_accum.clear();
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z_accum.clear();
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// Set up to receive updates
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
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connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
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// Set up timeout timer
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timer.start(2000);
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connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
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// Speed up updates
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initialMdata = obj->getMetadata();
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UAVObject::Metadata mdata = initialMdata;
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mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
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mdata.flightTelemetryUpdatePeriod = 100;
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obj->setMetadata(mdata);
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}
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@ -0,0 +1,68 @@
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/**
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******************************************************************************
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*
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* @file configccattitudewidget.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief Configure the properties of the attitude module in CopterControl
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef CCATTITUDEWIDGET_H
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#define CCATTITUDEWIDGET_H
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#include "ui_ccattitude.h"
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#include "configtaskwidget.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 <QtGui/QWidget>
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#include <QTimer>
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#include <QMutex>
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class Ui_Widget;
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class ConfigCCAttitudeWidget : public ConfigTaskWidget
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{
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Q_OBJECT
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public:
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explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
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~ConfigCCAttitudeWidget();
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private slots:
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void attitudeRawUpdated(UAVObject *);
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void timeout();
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void startAccelCalibration();
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private:
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QMutex startStop;
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Ui_ccattitude *ui;
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QTimer timer;
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UAVObject::Metadata initialMdata;
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int updates;
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QList<double> x_accum, y_accum, z_accum;
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static const int NUM_ACCEL_UPDATES = 10;
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static const float ACCEL_SCALE = 0.004f * 9.81f;
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};
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#endif // CCATTITUDEWIDGET_H
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