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

ground/src/plugins/config/ahrs.ui

@@ -37,6 +37,11 @@
       <height>141</height>
      </rect>
     </property>
+    <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>
@@ -49,40 +54,32 @@
      <rect>
       <x>390</x>
       <y>90</y>
-      <width>301</width>
+      <width>231</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
-     <string>Instructions......................</string>
+     <string>Press &quot;Start&quot; above to calibrate.</string>
     </property>
    </widget>
    <widget class="QPushButton" name="ahrsCalibStart">
     <property name="geometry">
      <rect>
-      <x>400</x>
+      <x>380</x>
-      <y>30</y>
+      <y>40</y>
       <width>93</width>
       <height>27</height>
      </rect>
     </property>
+    <property name="toolTip">
+     <string>Press to start a calibration procedure.
+
+Takes about 10 seconds.</string>
+    </property>
     <property name="text">
      <string>Start</string>
     </property>
    </widget>
-   <widget class="QPushButton" name="pushButton_2">
-    <property name="geometry">
-     <rect>
-      <x>540</x>
-      <y>30</y>
-      <width>93</width>
-      <height>27</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Cancel</string>
-    </property>
-   </widget>
    <widget class="Line" name="line">
     <property name="geometry">
      <rect>
@@ -269,6 +266,35 @@
      <enum>Qt::Horizontal</enum>
     </property>
    </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>380</x>
+      <y>10</y>
+      <width>151</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Sensors calibration</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="ahrsCalibSave">
+    <property name="enabled">
+     <bool>false</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>500</x>
+      <y>40</y>
+      <width>93</width>
+      <height>27</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Save</string>
+    </property>
+   </widget>
   </widget>
  </widget>
  <resources/>

ground/src/plugins/config/configahrswidget.cpp

@@ -26,6 +26,7 @@
  */
 #include "configahrswidget.h"
 
+#include "math.h"
 #include <QDebug>
 #include <QTimer>
 #include <QStringList>
@@ -56,8 +57,11 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
     // Initialize the 9 bargraph values:
 
     QMatrix lineMatrix = renderer->matrixForElement("accel_x");
-    qreal startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).x();
+    QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x"));
-    qreal startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")).y();
+    qreal startX = rect.x();
+    qreal startY = rect.y()+ rect.height();
+    // maxBarHeight will be used for scaling it later.
+    maxBarHeight = rect.height();
     // Then once we have the initial location, we can put it
     // into a QGraphicsSvgItem which we will display at the same
     // place: we do this so that the heading scale can be clipped to
@@ -66,31 +70,97 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
     accel_x->setSharedRenderer(renderer);
     accel_x->setElementId("accel_x");
     m_ahrs->ahrsBargraph->scene()->addItem(accel_x);
-    QTransform matrix;
+    accel_x->setPos(startX, startY);
-    matrix.translate(startX,startY);
+    accel_x->setTransform(QTransform::fromScale(1,0),true);
-    accel_x->setTransform(matrix,false);
 
     lineMatrix = renderer->matrixForElement("accel_y");
-    startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).x();
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y"));
-    startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")).y();
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
     accel_y = new QGraphicsSvgItem();
     accel_y->setSharedRenderer(renderer);
     accel_y->setElementId("accel_y");
     m_ahrs->ahrsBargraph->scene()->addItem(accel_y);
-    matrix.reset();
+    accel_y->setPos(startX,startY);
-    matrix.translate(startX,startY);
+    accel_y->setTransform(QTransform::fromScale(1,0),true);
-    accel_y->setTransform(matrix,false);
 
     lineMatrix = renderer->matrixForElement("accel_z");
-    startX = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).x();
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z"));
-    startY = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")).y();
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
     accel_z = new QGraphicsSvgItem();
     accel_z->setSharedRenderer(renderer);
     accel_z->setElementId("accel_z");
     m_ahrs->ahrsBargraph->scene()->addItem(accel_z);
-    matrix.reset();
+    accel_z->setPos(startX,startY);
-    matrix.translate(startX,startY);
+    accel_z->setTransform(QTransform::fromScale(1,0),true);
-    accel_z->setTransform(matrix,false);
+
+    lineMatrix = renderer->matrixForElement("gyro_x");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    gyro_x = new QGraphicsSvgItem();
+    gyro_x->setSharedRenderer(renderer);
+    gyro_x->setElementId("gyro_x");
+    m_ahrs->ahrsBargraph->scene()->addItem(gyro_x);
+    gyro_x->setPos(startX,startY);
+    gyro_x->setTransform(QTransform::fromScale(1,0),true);
+
+    lineMatrix = renderer->matrixForElement("gyro_y");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    gyro_y = new QGraphicsSvgItem();
+    gyro_y->setSharedRenderer(renderer);
+    gyro_y->setElementId("gyro_y");
+    m_ahrs->ahrsBargraph->scene()->addItem(gyro_y);
+    gyro_y->setPos(startX,startY);
+    gyro_y->setTransform(QTransform::fromScale(1,0),true);
+
+
+    lineMatrix = renderer->matrixForElement("gyro_z");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    gyro_z = new QGraphicsSvgItem();
+    gyro_z->setSharedRenderer(renderer);
+    gyro_z->setElementId("gyro_z");
+    m_ahrs->ahrsBargraph->scene()->addItem(gyro_z);
+    gyro_z->setPos(startX,startY);
+    gyro_z->setTransform(QTransform::fromScale(1,0),true);
+
+    lineMatrix = renderer->matrixForElement("mag_x");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    mag_x = new QGraphicsSvgItem();
+    mag_x->setSharedRenderer(renderer);
+    mag_x->setElementId("mag_x");
+    m_ahrs->ahrsBargraph->scene()->addItem(mag_x);
+    mag_x->setPos(startX,startY);
+    mag_x->setTransform(QTransform::fromScale(1,0),true);
+
+    lineMatrix = renderer->matrixForElement("mag_y");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    mag_y = new QGraphicsSvgItem();
+    mag_y->setSharedRenderer(renderer);
+    mag_y->setElementId("mag_y");
+    m_ahrs->ahrsBargraph->scene()->addItem(mag_y);
+    mag_y->setPos(startX,startY);
+    mag_y->setTransform(QTransform::fromScale(1,0),true);
+
+    lineMatrix = renderer->matrixForElement("mag_z");
+    rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z"));
+    startX = rect.x();
+    startY = rect.y()+ rect.height();
+    mag_z = new QGraphicsSvgItem();
+    mag_z->setSharedRenderer(renderer);
+    mag_z->setElementId("mag_z");
+    m_ahrs->ahrsBargraph->scene()->addItem(mag_z);
+    mag_z->setPos(startX,startY);
+    mag_z->setTransform(QTransform::fromScale(1,0),true);
 
 
 
@@ -105,6 +175,7 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     // Connect the signals
     connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
+    connect(m_ahrs->ahrsCalibSave, SIGNAL(clicked()), this, SLOT(saveAHRSCalibration()));
 
 }
 
@@ -126,6 +197,7 @@ void ConfigAHRSWidget::launchAHRSCalibration()
 {
     m_ahrs->calibInstructions->setText("Calibration launched...");
     m_ahrs->ahrsCalibStart->setEnabled(false);
+    m_ahrs->ahrsCalibSave->setEnabled(false);
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
@@ -138,18 +210,90 @@ void ConfigAHRSWidget::launchAHRSCalibration()
     waitabit->setSingleShot(true);
     waitabit->start(15000);
     connect(waitabit, SIGNAL(timeout()), this, SLOT(calibPhase2()));
+    phaseCounter = 0;
 
 }
 
 
+/**
+  Callback after 15 seconds once calibration is done on the board.
+
+  Currently we don't have a way to tell if calibration is finished, so we
+  have to use a timer.
+
+  */
 void ConfigAHRSWidget::calibPhase2()
 {
-    m_ahrs->calibInstructions->setText("Confirming settings...");
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
 
-    // Now update size of all the graphs in log scale
+    //  This is a bit weird, but it is because we are expecting an update from the
-    // 'log(1/val)'
+    // OP board with the correct calibration values, and those only arrive on the object update
+    // which comes back from the board, and not the first object update signal which is in fast
+    // the object update we did ourselves... Clear ?
+    switch (phaseCounter) {
+    case 0:
+        phaseCounter++;
+        m_ahrs->calibInstructions->setText("Getting results...");
+        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
+        obj->updated();
+        break;
+    case 1:  // this is where we end up with the update just above
+        phaseCounter++;
+        break;
+    case 2: // This is the update with the right values
+        disconnect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(calibPhase2()));
+        // Now update size of all the graphs
+        // I have not found a way to do this elegantly...
+        UAVObjectField *field = obj->getField(QString("accel_var"));
+        // The expected range is from 1E-6 to 1E-1
+        double steps = 6; // 6 bars on the graph
+        float accel_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
+        accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
+        float accel_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
+        accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
+        float accel_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
+        accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
+
+        field = obj->getField(QString("gyro_var"));
+        float gyro_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
+        gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
+        float gyro_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
+        gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
+        float gyro_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
+        gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
+
+        field = obj->getField(QString("mag_var"));
+        float mag_x_var = -1/steps*(1+steps+log10(field->getValue(0).toFloat()));
+        mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
+        float mag_y_var = -1/steps*(1+steps+log10(field->getValue(1).toFloat()));
+        mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
+        float mag_z_var = -1/steps*(1+steps+log10(field->getValue(2).toFloat()));
+        mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
+
+        m_ahrs->ahrsCalibStart->setEnabled(true);
+        m_ahrs->ahrsCalibSave->setEnabled(true);
+        break;
+    }
+
+}
+
+/**
+  Saves the AHRS sensors calibration
+  */
+void ConfigAHRSWidget::saveAHRSCalibration()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    UAVObject *obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("AHRSCalibration")));
+    UAVObjectField *field = obj->getField(QString("measure_var"));
+    field->setValue("FALSE");
+    obj->updated();
 
-    m_ahrs->ahrsCalibStart->setEnabled(true);
 }
 
 
+
+

ground/src/plugins/config/configahrswidget.h

@@ -52,9 +52,19 @@ private:
     QGraphicsSvgItem *accel_x;
     QGraphicsSvgItem *accel_y;
     QGraphicsSvgItem *accel_z;
+    QGraphicsSvgItem *gyro_x;
+    QGraphicsSvgItem *gyro_y;
+    QGraphicsSvgItem *gyro_z;
+    QGraphicsSvgItem *mag_x;
+    QGraphicsSvgItem *mag_y;
+    QGraphicsSvgItem *mag_z;
+    double maxBarHeight;
+    int phaseCounter;
+    const static double maxVarValue = 0.1;
 
 private slots:
     void launchAHRSCalibration();
+    void saveAHRSCalibration();
     void calibPhase2();
 
 protected:

ground/src/plugins/config/configservowidget.cpp

@@ -235,7 +235,7 @@ void ConfigServoWidget::requestRCOutputUpdate()
     obj->requestUpdate();
     QList<UAVObjectField*> fieldList = obj->getFields();
     foreach (UAVObjectField* field, fieldList) {
-        if (!field->getName().contains("Channel")) {
+        if (field->getUnits().contains("channel")) {
             assignOutputChannel(obj,field,field->getName());
         }
     }

ground/src/plugins/config/images/ahrs-calib.svg

@@ -288,7 +288,7 @@
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