mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Merged in f5soh/librepilot/LP-392_Gyro_init_GUI (pull request #310)
LP-392 Attitude tab : initGyroWhenBoardSteady and zeroGyroBiasOnArming to Revo
This commit is contained in:
Alessio Morale
commit
9b73838c52
@ -299,7 +299,7 @@ font:bold;</string>
|
||||
<item>
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||||
<widget class="QLabel" name="label">
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||||
<property name="text">
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<string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
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<string>Place vehicle very flat, and then click level to compute the accelerometer and gyro bias</string>
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</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
@ -366,17 +366,44 @@ font:bold;</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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<item row="3" column="0" colspan="3">
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<layout class="QHBoxLayout" name="horizontalLayout_7">
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<item>
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||||
<widget class="QCheckBox" name="initGyroWhenBoardSteady">
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<property name="toolTip">
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<string>If enabled, this option prevents gyro initialization while the board is moving.</string>
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</property>
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<property name="text">
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<string>Wait until the board is steady</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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<spacer name="horizontalSpacer_14">
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||||
<property name="orientation">
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||||
<enum>Qt::Horizontal</enum>
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||||
</property>
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||||
<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</item>
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<item row="2" column="0" colspan="3">
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<layout class="QHBoxLayout" name="horizontalLayout_3">
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<item>
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<widget class="QCheckBox" name="zeroGyroBiasOnArming">
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<property name="toolTip">
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<string>If enabled, a fast recalibration of gyro zero point will be done
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whenever the frame is armed. Do not move the airframe while
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whenever the board is armed. Do not move the vehicle while
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arming it in that case!</string>
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</property>
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<property name="text">
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<string>Zero gyros while arming aircraft</string>
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<string>Zero gyros while arming</string>
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</property>
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</widget>
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</item>
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@ -66,6 +66,8 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
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connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
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addWidgetBinding("AttitudeSettings", "InitialZeroWhenBoardSteady", ui->initGyroWhenBoardSteady);
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addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
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addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL);
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@ -234,6 +236,7 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
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{
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ui->zeroBias->setEnabled(enable);
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ui->zeroGyroBiasOnArming->setEnabled(enable);
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ui->initGyroWhenBoardSteady->setEnabled(enable);
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ui->accelTauSpinbox->setEnabled(enable);
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ConfigTaskWidget::enableControls(enable);
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}
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@ -197,6 +197,9 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW);
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addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau);
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addWidgetBinding("AttitudeSettings", "ZeroDuringArming", m_ui->zeroGyroBiasOnArming);
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addWidgetBinding("AttitudeSettings", "InitialZeroWhenBoardSteady", m_ui->initGyroWhenBoardSteady);
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addWidgetBinding("AuxMagSettings", "Usage", m_ui->auxMagUsage, 0, 1, true);
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addWidgetBinding("AuxMagSettings", "Type", m_ui->auxMagType, 0, 1, true);
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@ -487,6 +487,204 @@ p, li { white-space: pre-wrap; }
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<property name="bottomMargin">
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<number>6</number>
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</property>
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<item row="0" column="1">
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<widget class="QGroupBox" name="groupBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Home Location</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<property name="sizeConstraint">
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<enum>QLayout::SetDefaultConstraint</enum>
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</property>
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<item row="2" column="3">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Gravity acceleration:</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Latitude:</string>
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</property>
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</widget>
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</item>
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<item row="2" column="5">
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<widget class="QLineEdit" name="geBox">
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="readOnly">
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<bool>true</bool>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:HomeLocation</string>
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<string>fieldname:g_e</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLineEdit" name="lattitudeBox">
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="readOnly">
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<bool>true</bool>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:HomeLocation</string>
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<string>fieldname:Latitude</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="5">
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<widget class="QLineEdit" name="beBox">
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="readOnly">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Altitude:</string>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLineEdit" name="altitudeBox">
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="readOnly">
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||||
<bool>true</bool>
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||||
</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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||||
<string>objname:HomeLocation</string>
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||||
<string>fieldname:Altitude</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>Magnetic field vector:</string>
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</property>
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</widget>
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</item>
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<item row="0" column="0" colspan="6">
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<widget class="QLabel" name="label_11">
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||||
<property name="text">
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<string><html><head/><body><p>This information must be set to enable calibration the Revolution controller's sensors. <br/>Set home location using context menu in the map widget.</p></body></html></string>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLineEdit" name="longitudeBox">
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<property name="alignment">
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||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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||||
</property>
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<property name="readOnly">
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||||
<bool>true</bool>
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||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
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||||
<string>fieldname:Longitude</string>
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</stringlist>
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||||
</property>
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||||
</widget>
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</item>
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||||
<item row="3" column="5">
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||||
<widget class="QCheckBox" name="isSetCheckBox">
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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="text">
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<string>Is Set</string>
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</property>
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||||
<property name="checkable">
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||||
<bool>true</bool>
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</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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||||
<string>objname:HomeLocation</string>
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||||
<string>fieldname:Set</string>
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||||
</stringlist>
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||||
</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>Longitude:</string>
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</property>
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</widget>
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</item>
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<item row="5" column="5" alignment="Qt::AlignRight">
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||||
<widget class="QPushButton" name="hlClearButton">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="text">
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<string>Clear</string>
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</property>
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</widget>
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</item>
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<item row="4" column="5">
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||||
<spacer name="verticalSpacer_3">
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||||
<property name="orientation">
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||||
<enum>Qt::Vertical</enum>
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||||
</property>
|
||||
<property name="sizeHint" stdset="0">
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||||
<size>
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<width>20</width>
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<height>0</height>
|
||||
</size>
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||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="title">
|
||||
@ -634,6 +832,94 @@ font:bold;</string>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Attitude Estimation Algorithm</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="0" alignment="Qt::AlignTop">
|
||||
<widget class="QComboBox" name="FusionAlgorithm">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="gyroInit_groupBox">
|
||||
<property name="title">
|
||||
<string>Gyro Initialization</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_8">
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
|
||||
<property name="toolTip">
|
||||
<string>If enabled, a fast recalibration of gyro zero point will be done
|
||||
whenever the board is armed. Do not move the vehicle while
|
||||
arming it in that case!</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Zero gyros while arming</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="initGyroWhenBoardSteady">
|
||||
<property name="toolTip">
|
||||
<string>If enabled, this option prevents gyro initialization while the board is moving.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Wait until the board is steady</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
@ -685,251 +971,6 @@ A setting of 0.00 disables the filter.</string>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Attitude Estimation Algorithm</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="0" alignment="Qt::AlignTop">
|
||||
<widget class="QComboBox" name="FusionAlgorithm">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Home Location</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<item row="2" column="3">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Gravity acceleration:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Latitude:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="5">
|
||||
<widget class="QLineEdit" name="geBox">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
|
||||
<string>fieldname:g_e</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLineEdit" name="lattitudeBox">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
|
||||
<string>fieldname:Latitude</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="5">
|
||||
<widget class="QLineEdit" name="beBox">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>Altitude:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLineEdit" name="altitudeBox">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
|
||||
<string>fieldname:Altitude</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>Magnetic field vector:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0" colspan="6">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>This information must be set to enable calibration the Revolution controllers sensors. <br/>Set home location using context menu in the map widget.</p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLineEdit" name="longitudeBox">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
|
||||
<string>fieldname:Longitude</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="5">
|
||||
<widget class="QCheckBox" name="isSetCheckBox">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Is Set</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:HomeLocation</string>
|
||||
<string>fieldname:Set</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Longitude:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="5" alignment="Qt::AlignRight">
|
||||
<widget class="QPushButton" name="hlClearButton">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Clear</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="5">
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user