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Code Issues Releases Activity

OP-1351 Apply and Save logic for gyro bias calibration now works as expected

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This commit is contained in:
Philippe Renon 2014-05-30 15:09:07 +02:00
parent bd6bd043d1
commit 934a11bd96
4 changed files with 147 additions and 129 deletions
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163
ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp
View File

@ -25,52 +25,61 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include <attitudestate.h>
#include <attitudesettings.h>
#include "extensionsystem/pluginmanager.h"
#include <gyrostate.h>
#include <gyrosensor.h>
#include <revocalibration.h>
#include <accelgyrosettings.h>
#include "calibration/gyrobiascalibrationmodel.h" #include "calibration/gyrobiascalibrationmodel.h"
#include "calibration/calibrationutils.h" #include "calibration/calibrationutils.h"
#include "calibration/calibrationuiutils.h" #include "calibration/calibrationuiutils.h"
#include "extensionsystem/pluginmanager.h"
static const int LEVEL_SAMPLES = 100; static const int LEVEL_SAMPLES = 100;
namespace OpenPilot { namespace OpenPilot {
GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) : GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) :
QObject(parent), QObject(parent), collectingData(false), m_dirty(false)
collectingData(false) {
{} gyroState = GyroState::GetInstance(getObjectManager());
Q_ASSERT(gyroState);
gyroSensor = GyroSensor::GetInstance(getObjectManager());
Q_ASSERT(gyroSensor);
revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
Q_ASSERT(accelGyroSettings);
}
/******* gyro bias zero ******/
void GyroBiasCalibrationModel::start() void GyroBiasCalibrationModel::start()
{ {
// Store and reset board rotation before calibration starts // Store and reset board rotation before calibration starts
storeAndClearBoardRotation(); storeAndClearBoardRotation();
started();
progressChanged(0);
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
memento.revoCalibrationData = revoCalibrationData;
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE; revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
revoCalibration->setData(revoCalibrationData); revoCalibration->setData(revoCalibrationData);
revoCalibration->updated();
// Disable gyro bias correction while calibrating // Disable gyro bias correction while calibrating
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
memento.attitudeSettingsData = attitudeSettingsData;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
attitudeSettings->setData(attitudeSettingsData); attitudeSettings->setData(attitudeSettingsData);
attitudeSettings->updated();
displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata();
displayInstructions(tr("Calibrating the gyroscopes. Keep the vehicle steady...")); memento.gyroStateMetadata = gyroStateMetadata;
UAVObject::SetFlightTelemetryUpdateMode(gyroStateMetadata, UAVObject::UPDATEMODE_PERIODIC);
gyroStateMetadata.flightTelemetryUpdatePeriod = 100;
gyroState->setMetadata(gyroStateMetadata);
UAVObject::Metadata gyroSensorMetadata = gyroSensor->getMetadata();
memento.gyroSensorMetadata = gyroSensorMetadata;
UAVObject::SetFlightTelemetryUpdateMode(gyroSensorMetadata, UAVObject::UPDATEMODE_PERIODIC);
gyroSensorMetadata.flightTelemetryUpdatePeriod = 100;
gyroSensor->setMetadata(gyroSensorMetadata);
gyro_accum_x.clear(); gyro_accum_x.clear();
gyro_accum_y.clear(); gyro_accum_y.clear();
@ -80,24 +89,13 @@ void GyroBiasCalibrationModel::start()
gyro_state_accum_y.clear(); gyro_state_accum_y.clear();
gyro_state_accum_z.clear(); gyro_state_accum_z.clear();
UAVObject::Metadata metadata; // reset dirty state to forget previous unsaved runs
m_dirty = false;
GyroState *gyroState = GyroState::GetInstance(getObjectManager()); started();
Q_ASSERT(gyroState); progressChanged(0);
initialGyroStateMdata = gyroState->getMetadata(); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED);
metadata = initialGyroStateMdata; displayInstructions(tr("Calibrating the gyroscopes. Keep the vehicle steady..."));
UAVObject::SetFlightTelemetryUpdateMode(metadata, UAVObject::UPDATEMODE_PERIODIC);
metadata.flightTelemetryUpdatePeriod = 100;
gyroState->setMetadata(metadata);
UAVObject::Metadata gyroSensorMetadata;
GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
Q_ASSERT(gyroSensor);
initialGyroSensorMdata = gyroSensor->getMetadata();
gyroSensorMetadata = initialGyroSensorMdata;
UAVObject::SetFlightTelemetryUpdateMode(gyroSensorMetadata, UAVObject::UPDATEMODE_PERIODIC);
gyroSensorMetadata.flightTelemetryUpdatePeriod = 100;
gyroSensor->setMetadata(gyroSensorMetadata);
// Now connect to the accels and mag updates, gather for 100 samples // Now connect to the accels and mag updates, gather for 100 samples
collectingData = true; collectingData = true;
@ -112,15 +110,10 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
{ {
QMutexLocker lock(&sensorsUpdateLock); QMutexLocker lock(&sensorsUpdateLock);
Q_UNUSED(lock);
switch (obj->getObjID()) { switch (obj->getObjID()) {
case GyroState::OBJID: case GyroState::OBJID:
{ {
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
Q_ASSERT(gyroState);
GyroState::DataFields gyroStateData = gyroState->getData(); GyroState::DataFields gyroStateData = gyroState->getData();
gyro_state_accum_x.append(gyroStateData.x); gyro_state_accum_x.append(gyroStateData.x);
gyro_state_accum_y.append(gyroStateData.y); gyro_state_accum_y.append(gyroStateData.y);
gyro_state_accum_z.append(gyroStateData.z); gyro_state_accum_z.append(gyroStateData.z);
@ -128,10 +121,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
} }
case GyroSensor::OBJID: case GyroSensor::OBJID:
{ {
GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
Q_ASSERT(gyroSensor);
GyroSensor::DataFields gyroSensorData = gyroSensor->getData(); GyroSensor::DataFields gyroSensorData = gyroSensor->getData();
gyro_accum_x.append(gyroSensorData.x); gyro_accum_x.append(gyroSensorData.x);
gyro_accum_y.append(gyroSensorData.y); gyro_accum_y.append(gyroSensorData.y);
gyro_accum_z.append(gyroSensorData.z); gyro_accum_z.append(gyroSensorData.z);
@ -149,61 +139,48 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj)
if ((gyro_accum_y.size() >= LEVEL_SAMPLES || (gyro_accum_y.size() == 0 && gyro_state_accum_y.size() >= LEVEL_SAMPLES)) && if ((gyro_accum_y.size() >= LEVEL_SAMPLES || (gyro_accum_y.size() == 0 && gyro_state_accum_y.size() >= LEVEL_SAMPLES)) &&
collectingData == true) { collectingData == true) {
collectingData = false; collectingData = false;
m_dirty = true;
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
Q_ASSERT(gyroState);
GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager());
Q_ASSERT(gyroSensor);
disconnect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); disconnect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
stopped(); gyroState->setMetadata(memento.gyroStateMetadata);
gyroSensor->setMetadata(memento.gyroSensorMetadata);
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); revoCalibration->setData(memento.revoCalibrationData);
Q_ASSERT(revoCalibration); attitudeSettings->setData(memento.attitudeSettingsData);
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
Q_ASSERT(accelGyroSettings);
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
// Update biases based on collected data
// check whether the board does supports gyroSensor(updates were received)
if (gyro_accum_x.count() < LEVEL_SAMPLES / 10) {
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_x);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_y);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_z);
} else {
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
}
revoCalibration->setData(revoCalibrationData);
revoCalibration->updated();
accelGyroSettings->setData(accelGyroSettingsData);
accelGyroSettings->updated();
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
attitudeSettings->setData(attitudeSettingsData);
attitudeSettings->updated();
gyroState->setMetadata(initialGyroStateMdata);
gyroSensor->setMetadata(initialGyroSensorMdata);
displayInstructions(tr("Gyroscope calibration completed succesfully."), WizardModel::Success);
displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
// Recall saved board rotation // Recall saved board rotation
recallBoardRotation(); recallBoardRotation();
stopped();
displayInstructions(tr("Gyroscope calibration completed succesfully."), WizardModel::Success);
displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY);
} }
} }
void GyroBiasCalibrationModel::save()
{
if (!m_dirty) {
return;
}
// Update biases based on collected data
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
// check whether the board does supports gyroSensor (updates were received)
if (gyro_accum_x.count() < LEVEL_SAMPLES / 10) {
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_x);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_y);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_z);
} else {
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
}
accelGyroSettings->setData(accelGyroSettingsData);
m_dirty = false;
}
UAVObjectManager *GyroBiasCalibrationModel::getObjectManager() UAVObjectManager *GyroBiasCalibrationModel::getObjectManager()
{ {

36
ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h
View File

@ -34,6 +34,12 @@
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include <gyrostate.h>
#include <gyrosensor.h>
#include <attitudesettings.h>
#include <revocalibration.h>
#include <accelgyrosettings.h>
#include <QObject> #include <QObject>
namespace OpenPilot { namespace OpenPilot {
@ -43,27 +49,41 @@ class GyroBiasCalibrationModel : public QObject {
public: public:
explicit GyroBiasCalibrationModel(QObject *parent = 0); explicit GyroBiasCalibrationModel(QObject *parent = 0);
bool dirty()
{
return m_dirty;
}
signals: signals:
void displayVisualHelp(QString elementID);
void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info);
void started(); void started();
void stopped(); void stopped();
void storeAndClearBoardRotation(); void storeAndClearBoardRotation();
void recallBoardRotation(); void recallBoardRotation();
void progressChanged(int value); void progressChanged(int value);
void displayVisualHelp(QString elementID);
void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info);
public slots: public slots:
// Slots for gyro bias zero
void start(); void start();
void save();
private slots: private slots:
void getSample(UAVObject *obj); void getSample(UAVObject *obj);
private: private:
typedef struct {
UAVObject::Metadata gyroStateMetadata;
UAVObject::Metadata gyroSensorMetadata;
RevoCalibration::DataFields revoCalibrationData;
AttitudeSettings::DataFields attitudeSettingsData;
} Memento;
QMutex sensorsUpdateLock; QMutex sensorsUpdateLock;
bool collectingData; bool collectingData;
bool m_dirty;
Memento memento;
QList<double> gyro_accum_x; QList<double> gyro_accum_x;
QList<double> gyro_accum_y; QList<double> gyro_accum_y;
@ -71,8 +91,14 @@ private:
QList<double> gyro_state_accum_x; QList<double> gyro_state_accum_x;
QList<double> gyro_state_accum_y; QList<double> gyro_state_accum_y;
QList<double> gyro_state_accum_z; QList<double> gyro_state_accum_z;
UAVObject::Metadata initialGyroStateMdata;
UAVObject::Metadata initialGyroSensorMdata; // convenience pointers
GyroState *gyroState;
GyroSensor *gyroSensor;
RevoCalibration *revoCalibration;
AttitudeSettings *attitudeSettings;
AccelGyroSettings *accelGyroSettings;
UAVObjectManager *getObjectManager(); UAVObjectManager *getObjectManager();
}; };
} }

76
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
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@ -26,6 +26,19 @@
*/ */
#include "configrevowidget.h" #include "configrevowidget.h"
#include <attitudestate.h>
#include <attitudesettings.h>
#include <revocalibration.h>
#include <accelgyrosettings.h>
#include <homelocation.h>
#include <accelstate.h>
#include <magstate.h>
#include "assertions.h"
#include "calibration.h"
#include "calibration/calibrationutils.h"
#include "math.h" #include "math.h"
#include <QDebug> #include <QDebug>
#include <QTimer> #include <QTimer>
@ -40,26 +53,12 @@
#include <iostream> #include <iostream>
#include <QDesktopServices> #include <QDesktopServices>
#include <QUrl> #include <QUrl>
#include <attitudestate.h>
#include <attitudesettings.h>
#include <revocalibration.h>
#include <accelgyrosettings.h>
#include <homelocation.h>
#include <accelstate.h>
#include <magstate.h>
#include "assertions.h"
#include "calibration.h"
#include "calibration/calibrationutils.h"
#define sign(x) ((x < 0) ? -1 : 1) #define sign(x) ((x < 0) ? -1 : 1)
// Uncomment this to enable 6 point calibration on the accels // Uncomment this to enable 6 point calibration on the accels
#define NOISE_SAMPLES 50 #define NOISE_SAMPLES 50
// *****************
class Thread : public QThread { class Thread : public QThread {
public: public:
static void usleep(unsigned long usecs) static void usleep(unsigned long usecs)
@ -68,14 +67,15 @@ public:
} }
}; };
// *****************
ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
ConfigTaskWidget(parent), ConfigTaskWidget(parent),
m_ui(new Ui_RevoSensorsWidget()), m_ui(new Ui_RevoSensorsWidget()),
isBoardRotationStored(false) isBoardRotationStored(false)
{ {
m_ui->setupUi(this); m_ui->setupUi(this);
m_ui->tabWidget->setCurrentIndex(0);
addApplySaveButtons(m_ui->revoCalSettingsSaveRAM, m_ui->revoCalSettingsSaveSD);
// Initialization of the visual help // Initialization of the visual help
m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this)); m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this));
@ -86,11 +86,11 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
// Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues
// will be dealing with some null pointers // will be dealing with some null pointers
addUAVObject("RevoCalibration"); // addUAVObject("RevoCalibration");
addUAVObject("HomeLocation"); addUAVObject("HomeLocation");
addUAVObject("AttitudeSettings"); // addUAVObject("AttitudeSettings");
addUAVObject("RevoSettings"); // addUAVObject("RevoSettings");
addUAVObject("AccelGyroSettings"); // addUAVObject("AccelGyroSettings");
autoLoadWidgets(); autoLoadWidgets();
// thermal calibration // thermal calibration
@ -114,7 +114,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(float)), this, SLOT(displayTemperature(float))); connect(m_thermalCalibrationModel, SIGNAL(temperatureChanged(float)), this, SLOT(displayTemperature(float)));
connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(float)), this, SLOT(displayTemperatureGradient(float))); connect(m_thermalCalibrationModel, SIGNAL(temperatureGradientChanged(float)), this, SLOT(displayTemperatureGradient(float)));
connect(m_thermalCalibrationModel, SIGNAL(progressChanged(int)), m_ui->thermalBiasProgress, SLOT(setValue(int))); connect(m_thermalCalibrationModel, SIGNAL(progressChanged(int)), m_ui->thermalBiasProgress, SLOT(setValue(int)));
// note: init for m_thermalCalibrationModel is done in showEvent to prevent cases with "Start" button not enabled due to some timing issue.
// six point calibration // six point calibration
m_sixPointCalibrationModel = new OpenPilot::SixPointCalibrationModel(this); m_sixPointCalibrationModel = new OpenPilot::SixPointCalibrationModel(this);
@ -169,8 +168,9 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
populateWidgets(); populateWidgets();
refreshWidgetsValues(); refreshWidgetsValues();
m_ui->tabWidget->setCurrentIndex(0);
enableAllCalibrations(); enableAllCalibrations();
forceConnectedState();
} }
ConfigRevoWidget::~ConfigRevoWidget() ConfigRevoWidget::~ConfigRevoWidget()
@ -246,17 +246,21 @@ void ConfigRevoWidget::displayVisualHelp(QString elementID)
void ConfigRevoWidget::clearInstructions() void ConfigRevoWidget::clearInstructions()
{ {
m_ui->calibrationInstructions->clear(); m_ui->calibrationInstructions->clear();
// addInstructions(tr("Press any Start button to start a calibration step."), WizardModel::Prompt);
} }
void ConfigRevoWidget::addInstructions(QString text, WizardModel::MessageType type) void ConfigRevoWidget::addInstructions(QString text, WizardModel::MessageType type)
{ {
if (!text.isNull()) { if (!text.isNull()) {
switch (type) { switch (type) {
case WizardModel::Failure:
text = QString("<font color='red'>%1</font>").arg(text);
break;
case WizardModel::Prompt: case WizardModel::Prompt:
text = QString("<font color='blue'>%1</font>").arg(text); text = QString("<b><font color='blue'>%1</font>").arg(text);
break;
case WizardModel::Success:
text = QString("<b><font color='green'>%1</font>").arg(text);
break;
case WizardModel::Failure:
text = QString("<b><font color='red'>%1</font>").arg(text);
break; break;
default: default:
break; break;
@ -275,8 +279,6 @@ void ConfigRevoWidget::displayTemperatureGradient(float tempGradient)
m_ui->temperatureGradientLabel->setText(tr("Temperature rise %1 °C/min").arg(tempGradient, 5, 'f', 2)); m_ui->temperatureGradientLabel->setText(tr("Temperature rise %1 °C/min").arg(tempGradient, 5, 'f', 2));
} }
/********** UI Functions *************/
/** /**
* Called by the ConfigTaskWidget parent when RevoCalibration is updated * Called by the ConfigTaskWidget parent when RevoCalibration is updated
* to update the UI * to update the UI
@ -285,9 +287,6 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
{ {
ConfigTaskWidget::refreshWidgetsValues(object); ConfigTaskWidget::refreshWidgetsValues(object);
m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
m_ui->isSetCheckBox->setEnabled(false); m_ui->isSetCheckBox->setEnabled(false);
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
@ -298,6 +297,15 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
m_ui->beBox->setText(beStr); m_ui->beBox->setText(beStr);
} }
void ConfigRevoWidget::updateObjectsFromWidgets()
{
ConfigTaskWidget::updateObjectsFromWidgets();
if (m_gyroBiasCalibrationModel->dirty()) {
m_gyroBiasCalibrationModel->save();
}
}
void ConfigRevoWidget::clearHomeLocation() void ConfigRevoWidget::clearHomeLocation()
{ {
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
@ -318,6 +326,7 @@ void ConfigRevoWidget::clearHomeLocation()
void ConfigRevoWidget::disableAllCalibrations() void ConfigRevoWidget::disableAllCalibrations()
{ {
clearInstructions(); clearInstructions();
m_ui->sixPointsStartAccel->setEnabled(false); m_ui->sixPointsStartAccel->setEnabled(false);
m_ui->sixPointsStartMag->setEnabled(false); m_ui->sixPointsStartMag->setEnabled(false);
m_ui->boardLevelStart->setEnabled(false); m_ui->boardLevelStart->setEnabled(false);
@ -327,6 +336,11 @@ void ConfigRevoWidget::disableAllCalibrations()
void ConfigRevoWidget::enableAllCalibrations() void ConfigRevoWidget::enableAllCalibrations()
{ {
// TODO should use a signal from m_gyroBiasCalibrationModel instead
if (m_gyroBiasCalibrationModel->dirty()) {
widgetsContentsChanged();
}
m_ui->sixPointsStartAccel->setEnabled(true); m_ui->sixPointsStartAccel->setEnabled(true);
m_ui->sixPointsStartMag->setEnabled(true); m_ui->sixPointsStartMag->setEnabled(true);
m_ui->boardLevelStart->setEnabled(true); m_ui->boardLevelStart->setEnabled(true);

1
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -75,6 +75,7 @@ private slots:
// ! Overriden method from the configTaskWidget to update UI // ! Overriden method from the configTaskWidget to update UI
virtual void refreshWidgetsValues(UAVObject *object = NULL); virtual void refreshWidgetsValues(UAVObject *object = NULL);
virtual void updateObjectsFromWidgets();
// Slot for clearing home location // Slot for clearing home location
void clearHomeLocation(); void clearHomeLocation();