mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-38 Experimental AHRS automated calibration widget, for testing purpose only. Does not save to SD, and wait 10 seconds before hitting "Save" once the button becomes enabled.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1410 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
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@ -37,6 +37,11 @@
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<height>141</height>
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</rect>
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</property>
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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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@ -49,40 +54,32 @@
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<rect>
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<x>390</x>
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<y>90</y>
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<width>301</width>
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<width>231</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>Instructions......................</string>
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<string>Press "Start" above to calibrate.</string>
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</property>
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</widget>
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<widget class="QPushButton" name="ahrsCalibStart">
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<property name="geometry">
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<rect>
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<x>400</x>
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<y>30</y>
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<x>380</x>
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<y>40</y>
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<width>93</width>
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<height>27</height>
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</rect>
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</property>
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<property name="toolTip">
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<string>Press to start a calibration procedure.
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Takes about 10 seconds.</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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<widget class="QPushButton" name="pushButton_2">
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<property name="geometry">
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<rect>
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<x>540</x>
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<y>30</y>
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<width>93</width>
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<height>27</height>
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</rect>
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</property>
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<property name="text">
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<string>Cancel</string>
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</property>
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</widget>
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<widget class="Line" name="line">
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<property name="geometry">
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<rect>
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@ -269,6 +266,35 @@
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<enum>Qt::Horizontal</enum>
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</property>
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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>380</x>
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<y>10</y>
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<width>151</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>Sensors calibration</string>
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</property>
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</widget>
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<widget class="QPushButton" name="ahrsCalibSave">
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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="geometry">
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<rect>
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<x>500</x>
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<y>40</y>
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<width>93</width>
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<height>27</height>
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</rect>
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</property>
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<property name="text">
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<string>Save</string>
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</property>
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</widget>
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</widget>
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</widget>
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<resources/>
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@ -26,6 +26,7 @@
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*/
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#include "configahrswidget.h"
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#include "math.h"
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#include <QDebug>
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#include <QTimer>
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#include <QStringList>
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@ -56,8 +57,11 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
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// Initialize the 9 bargraph values:
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QMatrix lineMatrix = renderer->matrixForElement("accel_x");
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qreal startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).x();
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qreal startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).y();
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QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
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qreal startX = rect.x();
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qreal startY = rect.y()+ rect.height();
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// maxBarHeight will be used for scaling it later.
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maxBarHeight = rect.height();
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// Then once we have the initial location, we can put it
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// into a QGraphicsSvgItem which we will display at the same
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// place: we do this so that the heading scale can be clipped to
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@ -66,31 +70,97 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
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accel_x->setSharedRenderer(renderer);
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accel_x->setElementId("accel_x");
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m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
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QTransform matrix;
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matrix.translate(startX,startY);
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accel_x->setTransform(matrix,false);
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accel_x->setPos(startX, startY);
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accel_x->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("accel_y");
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startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).x();
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startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).y();
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rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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accel_y = new QGraphicsSvgItem();
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accel_y->setSharedRenderer(renderer);
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accel_y->setElementId("accel_y");
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m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
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matrix.reset();
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matrix.translate(startX,startY);
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accel_y->setTransform(matrix,false);
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accel_y->setPos(startX,startY);
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accel_y->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("accel_z");
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startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).x();
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startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).y();
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rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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accel_z = new QGraphicsSvgItem();
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accel_z->setSharedRenderer(renderer);
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accel_z->setElementId("accel_z");
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m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
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matrix.reset();
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matrix.translate(startX,startY);
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accel_z->setTransform(matrix,false);
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accel_z->setPos(startX,startY);
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accel_z->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("gyro_x");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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gyro_x = new QGraphicsSvgItem();
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gyro_x->setSharedRenderer(renderer);
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gyro_x->setElementId("gyro_x");
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m_ahrs->ahrsBargraph->scene()->addItem(gyro_x);
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gyro_x->setPos(startX,startY);
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gyro_x->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("gyro_y");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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gyro_y = new QGraphicsSvgItem();
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gyro_y->setSharedRenderer(renderer);
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gyro_y->setElementId("gyro_y");
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m_ahrs->ahrsBargraph->scene()->addItem(gyro_y);
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gyro_y->setPos(startX,startY);
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gyro_y->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("gyro_z");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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gyro_z = new QGraphicsSvgItem();
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gyro_z->setSharedRenderer(renderer);
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gyro_z->setElementId("gyro_z");
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m_ahrs->ahrsBargraph->scene()->addItem(gyro_z);
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gyro_z->setPos(startX,startY);
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gyro_z->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("mag_x");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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mag_x = new QGraphicsSvgItem();
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mag_x->setSharedRenderer(renderer);
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mag_x->setElementId("mag_x");
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m_ahrs->ahrsBargraph->scene()->addItem(mag_x);
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mag_x->setPos(startX,startY);
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mag_x->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("mag_y");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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mag_y = new QGraphicsSvgItem();
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mag_y->setSharedRenderer(renderer);
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mag_y->setElementId("mag_y");
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m_ahrs->ahrsBargraph->scene()->addItem(mag_y);
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mag_y->setPos(startX,startY);
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mag_y->setTransform(QTransform::fromScale(1,0),true);
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lineMatrix = renderer->matrixForElement("mag_z");
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rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
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startX = rect.x();
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startY = rect.y()+ rect.height();
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mag_z = new QGraphicsSvgItem();
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mag_z->setSharedRenderer(renderer);
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mag_z->setElementId("mag_z");
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m_ahrs->ahrsBargraph->scene()->addItem(mag_z);
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mag_z->setPos(startX,startY);
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mag_z->setTransform(QTransform::fromScale(1,0),true);
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@ -105,6 +175,7 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
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// Connect the signals
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connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
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connect(m_ahrs->ahrsCalibSave, SIGNAL(clicked()), this, SLOT(saveAHRSCalibration()));
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}
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@ -126,6 +197,7 @@ void ConfigAHRSWidget::launchAHRSCalibration()
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{
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m_ahrs->calibInstructions->setText("Calibration launched...");
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m_ahrs->ahrsCalibStart->setEnabled(false);
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m_ahrs->ahrsCalibSave->setEnabled(false);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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@ -138,18 +210,90 @@ void ConfigAHRSWidget::launchAHRSCalibration()
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waitabit->setSingleShot(true);
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waitabit->start(15000);
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connect(waitabit, SIGNAL(timeout()), this, SLOT(calibPhase2()));
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phaseCounter = 0;
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}
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/**
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Callback after 15 seconds once calibration is done on the board.
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Currently we don't have a way to tell if calibration is finished, so we
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have to use a timer.
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*/
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void ConfigAHRSWidget::calibPhase2()
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{
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m_ahrs->calibInstructions->setText("Confirming settings...");
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
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// Now update size of all the graphs in log scale
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// 'log(1/val)'
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// This is a bit weird, but it is because we are expecting an update from the
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// OP board with the correct calibration values, and those only arrive on the object update
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// which comes back from the board, and not the first object update signal which is in fast
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// the object update we did ourselves... Clear ?
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switch (phaseCounter) {
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case 0:
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phaseCounter++;
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m_ahrs->calibInstructions->setText("Getting results...");
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connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
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obj->updated();
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break;
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case 1: // this is where we end up with the update just above
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phaseCounter++;
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break;
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case 2: // This is the update with the right values
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disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
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// Now update size of all the graphs
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// I have not found a way to do this elegantly...
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UAVObjectField *field = obj->getField(QString("accel_var"));
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// The expected range is from 1E-6 to 1E-1
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double steps = 6; // 6 bars on the graph
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float accel_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
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accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
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float accel_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
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accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
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float accel_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
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accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
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field = obj->getField(QString("gyro_var"));
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float gyro_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
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gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
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float gyro_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
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gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
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float gyro_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
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gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
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field = obj->getField(QString("mag_var"));
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float mag_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
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mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
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float mag_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
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mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
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float mag_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
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mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
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m_ahrs->ahrsCalibStart->setEnabled(true);
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m_ahrs->ahrsCalibSave->setEnabled(true);
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break;
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}
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}
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/**
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Saves the AHRS sensors calibration
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*/
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void ConfigAHRSWidget::saveAHRSCalibration()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
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UAVObjectField *field = obj->getField(QString("measure_var"));
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field->setValue("FALSE");
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obj->updated();
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m_ahrs->ahrsCalibStart->setEnabled(true);
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}
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@ -52,9 +52,19 @@ private:
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QGraphicsSvgItem *accel_x;
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QGraphicsSvgItem *accel_y;
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QGraphicsSvgItem *accel_z;
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QGraphicsSvgItem *gyro_x;
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QGraphicsSvgItem *gyro_y;
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QGraphicsSvgItem *gyro_z;
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QGraphicsSvgItem *mag_x;
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QGraphicsSvgItem *mag_y;
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QGraphicsSvgItem *mag_z;
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double maxBarHeight;
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int phaseCounter;
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const static double maxVarValue = 0.1;
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private slots:
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void launchAHRSCalibration();
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void saveAHRSCalibration();
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void calibPhase2();
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protected:
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@ -235,7 +235,7 @@ void ConfigServoWidget::requestRCOutputUpdate()
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obj->requestUpdate();
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QList<UAVObjectField*> fieldList = obj->getFields();
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foreach (UAVObjectField* field, fieldList) {
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if (!field->getName().contains("Channel")) {
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if (field->getUnits().contains("channel")) {
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assignOutputChannel(obj,field,field->getName());
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}
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}
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@ -288,7 +288,7 @@
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Before Width: | Height: | Size: 23 KiB After Width: | Height: | Size: 23 KiB |
Loading…
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Reference in New Issue
Block a user