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OP-36: Forgot some files with previous commit

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3092 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2011-03-28 19:16:38 +00:00 committed by peabody124
parent e70fe52966
commit 687d4f7cc8
3 changed files with 240 additions and 0 deletions
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58
ground/openpilotgcs/src/plugins/config/ccattitude.ui Normal file
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@ -0,0 +1,58 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ccattitude</class>
<widget class="QWidget" name="ccattitude">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QWidget" name="horizontalLayoutWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>40</y>
<width>281</width>
<height>32</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="zeroBias">
<property name="text">
<string>Zero Accel Bias</string>
</property>
</widget>
</item>
<item>
<widget class="QProgressBar" name="zeroBiasProgress">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>20</y>
<width>281</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Place aircraft flat before computing</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

114
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp Normal file
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/**
******************************************************************************
*
* @file configccattitudewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Configure Attitude module on CopterControl
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configccattitudewidget.h"
#include "ui_ccattitude.h"
#include <QMutexLocker>
#include <QErrorMessage>
#include <QDebug>
ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ConfigTaskWidget(parent),
ui(new Ui_ccattitude)
{
ui->setupUi(this);
connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
{
delete ui;
}
void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
QMutexLocker locker(&startStop);
UAVDataObject * attitudeRaw = dynamic_cast<UAVDataObject*>(obj);
ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
if(updates < NUM_ACCEL_UPDATES) {
updates++;
UAVObjectField * field = obj->getField(QString("accels"));
x_accum.append(field->getDouble(0));
y_accum.append(field->getDouble(1));
z_accum.append(field->getDouble(2));
} else {
timer.stop();
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
float x_bias = listMean(x_accum) / ACCEL_SCALE;
float y_bias = listMean(y_accum) / ACCEL_SCALE;
float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
obj->setMetadata(initialMdata);
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("AccelBias");
field->setDouble(field->getDouble(0) + x_bias,0);
field->setDouble(field->getDouble(1) + y_bias,1);
field->setDouble(field->getDouble(2) + z_bias,2);
settings->updated();
}
}
void ConfigCCAttitudeWidget::timeout() {
QMutexLocker locker(&startStop);
UAVObjectManager * objMngr = getObjectManager();
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
QErrorMessage errmsg;
errmsg.showMessage("Calibration timed out before receiving required updates");
errmsg.exec();
}
void ConfigCCAttitudeWidget::startAccelCalibration() {
QMutexLocker locker(&startStop);
qDebug() << "Click";
updates = 0;
x_accum.clear();
y_accum.clear();
z_accum.clear();
// Set up to receive updates
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
// Set up timeout timer
timer.start(2000);
connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
// Speed up updates
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
}

68
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h Normal file
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/**
******************************************************************************
*
* @file configccattitudewidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Configure the properties of the attitude module in CopterControl
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CCATTITUDEWIDGET_H
#define CCATTITUDEWIDGET_H
#include "ui_ccattitude.h"
#include "configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QtGui/QWidget>
#include <QTimer>
#include <QMutex>
class Ui_Widget;
class ConfigCCAttitudeWidget : public ConfigTaskWidget
{
Q_OBJECT
public:
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
~ConfigCCAttitudeWidget();
private slots:
void attitudeRawUpdated(UAVObject *);
void timeout();
void startAccelCalibration();
private:
QMutex startStop;
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialMdata;
int updates;
QList<double> x_accum, y_accum, z_accum;
static const int NUM_ACCEL_UPDATES = 10;
static const float ACCEL_SCALE = 0.004f * 9.81f;
};
#endif // CCATTITUDEWIDGET_H