rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Merged in f5soh/librepilot/LP-392_Gyro_init_GUI (pull request #310)

Browse Source 
LP-392 Attitude tab : initGyroWhenBoardSteady and zeroGyroBiasOnArming to Revo
This commit is contained in:
Alessio Morale 2016-09-04 13:50:22 +02:00
commit 9b73838c52
4 changed files with 322 additions and 248 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
ground/gcs/src/plugins/config/ccattitude.ui
View File

@ -299,7 +299,7 @@ font:bold;</string>
<item> <item>
<widget class="QLabel" name="label"> <widget class="QLabel" name="label">
<property name="text"> <property name="text">
<string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string> <string>Place vehicle very flat, and then click level to compute the accelerometer and gyro bias</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@ -366,17 +366,44 @@ font:bold;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<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>
<item>
<spacer name="horizontalSpacer_14">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="2" column="0" colspan="3"> <item row="2" column="0" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_3"> <layout class="QHBoxLayout" name="horizontalLayout_3">
<item> <item>
<widget class="QCheckBox" name="zeroGyroBiasOnArming"> <widget class="QCheckBox" name="zeroGyroBiasOnArming">
<property name="toolTip"> <property name="toolTip">
<string>If enabled, a fast recalibration of gyro zero point will be done <string>If enabled, a fast recalibration of gyro zero point will be done
whenever the frame is armed. Do not move the airframe while whenever the board is armed. Do not move the vehicle while
arming it in that case!</string> arming it in that case!</string>
</property> </property>
<property name="text"> <property name="text">
<string>Zero gyros while arming aircraft</string> <string>Zero gyros while arming</string>
</property> </property>
</widget> </widget>
</item> </item>

3
ground/gcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -66,6 +66,8 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming); addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
addWidgetBinding("AttitudeSettings", "InitialZeroWhenBoardSteady", ui->initGyroWhenBoardSteady);
addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox); addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL); addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL);
@ -234,6 +236,7 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
{ {
ui->zeroBias->setEnabled(enable); ui->zeroBias->setEnabled(enable);
ui->zeroGyroBiasOnArming->setEnabled(enable); ui->zeroGyroBiasOnArming->setEnabled(enable);
ui->initGyroWhenBoardSteady->setEnabled(enable);
ui->accelTauSpinbox->setEnabled(enable); ui->accelTauSpinbox->setEnabled(enable);
ConfigTaskWidget::enableControls(enable); ConfigTaskWidget::enableControls(enable);
} }

3
ground/gcs/src/plugins/config/configrevowidget.cpp
View File

@ -197,6 +197,9 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW); addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW);
addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau); addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau);
addWidgetBinding("AttitudeSettings", "ZeroDuringArming", m_ui->zeroGyroBiasOnArming);
addWidgetBinding("AttitudeSettings", "InitialZeroWhenBoardSteady", m_ui->initGyroWhenBoardSteady);
addWidgetBinding("AuxMagSettings", "Usage", m_ui->auxMagUsage, 0, 1, true); addWidgetBinding("AuxMagSettings", "Usage", m_ui->auxMagUsage, 0, 1, true);
addWidgetBinding("AuxMagSettings", "Type", m_ui->auxMagType, 0, 1, true); addWidgetBinding("AuxMagSettings", "Type", m_ui->auxMagType, 0, 1, true);

531
ground/gcs/src/plugins/config/revosensors.ui
View File

@ -487,6 +487,204 @@ p, li { white-space: pre-wrap; }
<property name="bottomMargin"> <property name="bottomMargin">
<number>6</number> <number>6</number>
</property> </property>
<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>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This information must be set to enable calibration the Revolution controller's sensors. &lt;br/&gt;Set home location using context menu in the map widget.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QGroupBox" name="groupBox_3"> <widget class="QGroupBox" name="groupBox_3">
<property name="title"> <property name="title">
@ -634,6 +832,94 @@ font:bold;</string>
</layout> </layout>
</widget> </widget>
</item> </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"> <item row="1" column="0">
<widget class="QGroupBox" name="groupBox_4"> <widget class="QGroupBox" name="groupBox_4">
<property name="title"> <property name="title">
@ -685,251 +971,6 @@ A setting of 0.00 disables the filter.</string>
</layout> </layout>
</widget> </widget>
</item> </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>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This information must be set to enable calibration the Revolution controllers sensors. &lt;br/&gt;Set home location using context menu in the map widget.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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> </layout>
</item> </item>
<item> <item>