mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-19 04:52:12 +01:00
LP-240 Add aux/onboard Mag alarms, max deviation level settings. Renamed Tab to "Mag settings"
This commit is contained in:
Laurent Lalanne
parent
45c42537b1
commit
9c4b7498cd
@ -196,12 +196,16 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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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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addWidgetBinding("RevoSettings", "MagnetometerMaxDeviation", m_ui->maxDeviationWarning, RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING);
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addWidgetBinding("RevoSettings", "MagnetometerMaxDeviation", m_ui->maxDeviationError, RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR);
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addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagRollRotation, AuxMagSettings::BOARDROTATION_ROLL);
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addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagPitchRotation, AuxMagSettings::BOARDROTATION_PITCH);
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addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagYawRotation, AuxMagSettings::BOARDROTATION_YAW);
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connect(MagSensor::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onBoardAuxMagError()));
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connect(MagState::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateMagStatus()));
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connect(HomeLocation::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateMagBeVector()));
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addWidget(m_ui->internalAuxErrorX);
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addWidget(m_ui->internalAuxErrorY);
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@ -400,6 +404,8 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
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QString beStr = QString("%1:%2:%3").arg(QString::number(homeLocationData.Be[0]), QString::number(homeLocationData.Be[1]), QString::number(homeLocationData.Be[2]));
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m_ui->beBox->setText(beStr);
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getMagBeVector();
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}
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void ConfigRevoWidget::updateObjectsFromWidgets()
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@ -507,28 +513,45 @@ void ConfigRevoWidget::onBoardAuxMagError()
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MagSensor::DataFields magData = magSensor->getData();
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AuxMagSensor::DataFields auxMagData = auxMagSensor->getData();
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onboardMag[0] = magData.x;
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onboardMag[1] = magData.y;
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onboardMag[2] = magData.z;
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auxMag[0] = auxMagData.x;
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auxMag[1] = auxMagData.y;
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auxMag[2] = auxMagData.z;
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float normalizedMag[3];
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float normalizedAuxMag[3];
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// Smooth Mag readings
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float alpha = 0.8f;
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float inv_alpha = (1.0f - alpha);
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onboardMag[0] = (onboardMag[0] * alpha) + (magData.x * inv_alpha);
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onboardMag[1] = (onboardMag[1] * alpha) + (magData.y * inv_alpha);
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onboardMag[2] = (onboardMag[2] * alpha) + (magData.z * inv_alpha);
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auxMag[0] = (auxMag[0] * alpha) + (auxMagData.x * inv_alpha);
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auxMag[1] = (auxMag[1] * alpha) + (auxMagData.y * inv_alpha);
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auxMag[2] = (auxMag[2] * alpha) + (auxMagData.z * inv_alpha);
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onboardMagFiltered[0] = (onboardMagFiltered[0] * alpha) + (onboardMag[0] * inv_alpha);
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onboardMagFiltered[1] = (onboardMagFiltered[1] * alpha) + (onboardMag[1] * inv_alpha);
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onboardMagFiltered[2] = (onboardMagFiltered[2] * alpha) + (onboardMag[2] * inv_alpha);
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auxMagFiltered[0] = (auxMagFiltered[0] * alpha) + (auxMag[0] * inv_alpha);
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auxMagFiltered[1] = (auxMagFiltered[1] * alpha) + (auxMag[1] * inv_alpha);
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auxMagFiltered[2] = (auxMagFiltered[2] * alpha) + (auxMag[2] * inv_alpha);
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// Normalize vectors
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float magLenght = sqrt((onboardMag[0] * onboardMag[0]) + (onboardMag[1] * onboardMag[1]) + (onboardMag[2] * onboardMag[2]));
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float auxMagLenght = sqrt((auxMag[0] * auxMag[0]) + (auxMag[1] * auxMag[1]) + (auxMag[2] * auxMag[2]));
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float magLenght = sqrt((onboardMagFiltered[0] * onboardMagFiltered[0]) +
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(onboardMagFiltered[1] * onboardMagFiltered[1]) +
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(onboardMagFiltered[2] * onboardMagFiltered[2]));
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float auxMagLenght = sqrt((auxMagFiltered[0] * auxMagFiltered[0]) +
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(auxMagFiltered[1] * auxMagFiltered[1]) +
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(auxMagFiltered[2] * auxMagFiltered[2]));
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normalizedMag[0] = onboardMag[0] / magLenght;
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normalizedMag[1] = onboardMag[1] / magLenght;
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normalizedMag[2] = onboardMag[2] / magLenght;
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normalizedAuxMag[0] = auxMag[0] / auxMagLenght;
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normalizedAuxMag[1] = auxMag[1] / auxMagLenght;
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normalizedAuxMag[2] = auxMag[2] / auxMagLenght;
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normalizedMag[0] = onboardMagFiltered[0] / magLenght;
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normalizedMag[1] = onboardMagFiltered[1] / magLenght;
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normalizedMag[2] = onboardMagFiltered[2] / magLenght;
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normalizedAuxMag[0] = auxMagFiltered[0] / auxMagLenght;
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normalizedAuxMag[1] = auxMagFiltered[1] / auxMagLenght;
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normalizedAuxMag[2] = auxMagFiltered[2] / auxMagLenght;
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// Calc diff and scale
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float xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
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@ -539,6 +562,92 @@ void ConfigRevoWidget::onBoardAuxMagError()
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m_ui->internalAuxErrorX->setValue(xDiff > 50.0f ? 50.0f : xDiff < -50.0f ? -50.0f : xDiff);
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m_ui->internalAuxErrorY->setValue(yDiff > 50.0f ? 50.0f : yDiff < -50.0f ? -50.0f : yDiff);
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m_ui->internalAuxErrorZ->setValue(zDiff > 50.0f ? 50.0f : zDiff < -50.0f ? -50.0f : zDiff);
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updateMagAlarm(getMagError(onboardMag), getMagError(auxMag));
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}
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void ConfigRevoWidget::updateMagAlarm(float errorMag, float errorAuxMag)
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{
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#define ALARM_THRESHOLD 20
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RevoSettings *revoSettings = RevoSettings::GetInstance(getObjectManager());
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Q_ASSERT(revoSettings);
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RevoSettings::DataFields revoSettingsData = revoSettings->getData();
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QString bgColorMag = "green";
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QString bgColorAuxMag = "green";
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// Onboard Mag
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if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
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magWarningCount = 0;
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magErrorCount = 0;
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}
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if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
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magErrorCount = 0;
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if (magWarningCount > ALARM_THRESHOLD) {
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bgColorMag = "orange";
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} else {
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magWarningCount++;
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}
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}
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if (magErrorCount > ALARM_THRESHOLD) {
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bgColorMag = "red";
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} else {
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magErrorCount++;
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}
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// External Mag
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
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auxMagWarningCount = 0;
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auxMagErrorCount = 0;
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}
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
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auxMagErrorCount = 0;
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if (auxMagWarningCount > ALARM_THRESHOLD) {
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bgColorAuxMag = "orange";
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} else {
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auxMagWarningCount++;
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}
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}
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if (auxMagErrorCount > ALARM_THRESHOLD) {
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bgColorAuxMag = "red";
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} else {
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auxMagErrorCount++;
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}
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m_ui->onBoardMagStatus->setStyleSheet(
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"QLabel { background-color: " + bgColorMag + ";"
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"color: rgb(255, 255, 255); border-radius: 5; margin:1px; font:bold; }");
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m_ui->auxMagStatus->setStyleSheet(
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"QLabel { background-color: " + bgColorAuxMag + ";"
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"color: rgb(255, 255, 255); border-radius: 5; margin:1px; font:bold; }");
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}
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float ConfigRevoWidget::getMagError(float mag[3])
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{
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float magnitude = sqrt((mag[0] * mag[0]) + (mag[1] * mag[1]) + (mag[2] * mag[2]));
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float magnitudeBe = sqrt((magBe[0] * magBe[0]) + (magBe[1] * magBe[1]) + (magBe[2] * magBe[2]));
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float invMagnitudeBe = 1.0f / magnitudeBe;
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// Absolute value of relative error against Be
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float error = fabsf(magnitude - magnitudeBe) * invMagnitudeBe;
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return error;
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}
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void ConfigRevoWidget::getMagBeVector()
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{
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HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
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Q_ASSERT(homeLocation);
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HomeLocation::DataFields homeLocationData = homeLocation->getData();
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magBe[0] = homeLocationData.Be[0];
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magBe[1] = homeLocationData.Be[1];
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magBe[2] = homeLocationData.Be[2];
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}
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void ConfigRevoWidget::updateMagStatus()
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@ -74,9 +74,14 @@ public:
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float onboardMag[3];
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float auxMag[3];
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float onboardMagFiltered[3];
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float auxMagFiltered[3];
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float magBe[3];
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float normalizedMag[3];
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float normalizedAuxMag[3];
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int magWarningCount;
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int magErrorCount;
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int auxMagWarningCount;
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int auxMagErrorCount;
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private:
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OpenPilot::SixPointCalibrationModel *m_accelCalibrationModel;
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@ -114,6 +119,10 @@ private slots:
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void onBoardAuxMagError();
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void updateMagStatus();
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void getMagBeVector();
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void updateMagAlarm(float errorMag, float errorAuxMag);
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float getMagError(float mag[3]);
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void updateVisualHelp();
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void openHelp();
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@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>890</width>
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<height>725</height>
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<width>935</width>
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<height>726</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -955,13 +955,239 @@ A setting of 0.00 disables the filter.</string>
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<bool>true</bool>
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</property>
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<attribute name="title">
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<string>External Mag Settings</string>
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<string>Mag Settings</string>
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_6">
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_7">
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<layout class="QGridLayout" name="gridLayout_6">
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<property name="leftMargin">
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<number>6</number>
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</property>
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<property name="topMargin">
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<number>6</number>
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</property>
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<property name="rightMargin">
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<number>6</number>
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</property>
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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="gridGroupBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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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="minimumSize">
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<size>
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<width>500</width>
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<height>0</height>
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</size>
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</property>
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<property name="title">
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<string>External Mag Orientation Help</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_10">
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<property name="leftMargin">
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<number>6</number>
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</property>
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<property name="topMargin">
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<number>6</number>
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</property>
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<property name="rightMargin">
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<number>6</number>
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</property>
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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="2" column="0">
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<widget class="QLabel" name="label_23">
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>30</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>30</height>
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</size>
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</property>
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<property name="styleSheet">
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<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
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color: rgb(255, 255, 255);
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border-radius: 5;
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margin:1px;
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font:bold;</string>
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</property>
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<property name="text">
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<string>Y axis</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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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_22">
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<property name="minimumSize">
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<size>
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<width>80</width>
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<height>30</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>30</height>
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</size>
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</property>
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<property name="styleSheet">
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<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
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color: rgb(255, 255, 255);
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border-radius: 5;
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margin:1px;
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font:bold;</string>
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</property>
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<property name="text">
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<string>Z axis</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QProgressBar" name="internalAuxErrorZ">
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<property name="toolTip">
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<string>Difference on Z axis</string>
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</property>
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<property name="minimum">
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<number>-50</number>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="format">
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<string>%v</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QProgressBar" name="internalAuxErrorY">
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<property name="toolTip">
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<string>Difference on Y axis</string>
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</property>
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<property name="minimum">
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<number>-50</number>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="format">
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<string>%v</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="2">
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<widget class="QTextEdit" name="textEdit">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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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="html">
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<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The bargraphs show the difference between the onboard magnetometer and external magnetometer measurements. </p>
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<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When the external magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) <a name="result_box"></a>whatever the vehicle's orientation.</p>
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<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This assumes both magnetometers are calibrated and without alarm.</p></body></html></string>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QProgressBar" name="internalAuxErrorX">
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<property name="toolTip">
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<string>Difference on X axis</string>
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</property>
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<property name="minimum">
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<number>-50</number>
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</property>
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<property name="maximum">
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<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>X axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -976,7 +1202,10 @@ A setting of 0.00 disables the filter.</string>
|
||||
<property name="title">
|
||||
<string>Magnetometer Settings</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0">
|
||||
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetMinimumSize</enum>
|
||||
</property>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_31">
|
||||
<property name="minimumSize">
|
||||
@ -1003,8 +1232,14 @@ A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="1" column="1" colspan="2">
|
||||
<widget class="QComboBox" name="auxMagType">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
@ -1016,10 +1251,10 @@ A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<item row="0" column="1" colspan="2">
|
||||
<widget class="QComboBox" name="auxMagUsage">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1035,13 +1270,55 @@ A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="maxDeviationWarning">
|
||||
<property name="toolTip">
|
||||
<string>Warning level in percent (default 5%)</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.150000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="maxDeviationError">
|
||||
<property name="toolTip">
|
||||
<string>Error level in percent (default 15%)</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.150000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.300000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>Warning / Error levels:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::MinimumExpanding</enum>
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
@ -1057,7 +1334,7 @@ A setting of 0.00 disables the filter.</string>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_9">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1065,7 +1342,68 @@ A setting of 0.00 disables the filter.</string>
|
||||
<property name="title">
|
||||
<string>Magnetometer Status</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
|
||||
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0,0,0">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetMinimumSize</enum>
|
||||
</property>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="onBoardMagStatus">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>35</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: green;
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Onboard</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="auxMagStatus">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>35</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: green;
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>AuxMag</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="magStatusSource">
|
||||
<property name="sizePolicy">
|
||||
@ -1092,13 +1430,48 @@ A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Mag alarms:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="3">
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_7">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
@ -1107,6 +1480,9 @@ A setting of 0.00 disables the filter.</string>
|
||||
<string>Rotate Magnetometer Orientation</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,0">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetMinimumSize</enum>
|
||||
</property>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_29">
|
||||
<property name="minimumSize">
|
||||
@ -1253,208 +1629,6 @@ font:bold;</string>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="gridGroupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>External Mag Orientation Help</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_10">
|
||||
<property name="leftMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Z axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorY">
|
||||
<property name="toolTip">
|
||||
<string>Difference on Y axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorZ">
|
||||
<property name="toolTip">
|
||||
<string>Difference on Z axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Y axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QProgressBar" name="internalAuxErrorX">
|
||||
<property name="toolTip">
|
||||
<string>Difference on X axis</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-50</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>50</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="textVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="format">
|
||||
<string>%v</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>30</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>X axis</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0" colspan="2">
|
||||
<widget class="QTextEdit" name="textEdit">
|
||||
<property name="html">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The bargraphs show the difference between the onboard magnetometer and external magnetometer measurements. </p>
|
||||
<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When the external magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) <a name="result_box"></a>whatever the vehicle's orientation.</p>
|
||||
<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This assumes the onboard magnetometer is also calibrated (Mag use=Both).</p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@ -1462,6 +1636,9 @@ p, li { white-space: pre-wrap; }
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user