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Merged in f5soh/librepilot/LP-590_Gyro_calibration_boardleveltrim (pull request #505)

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LP-590 Gyro/Accel calibration boardleveltrim

Approved-by: Julian Lilov <jdl@abv.bg>
Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 17:27:39 +00:00 committed by Philippe Renon
commit a4dfa85a58
3 changed files with 29 additions and 16 deletions
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10
ground/gcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp
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@ -69,9 +69,13 @@ void GyroBiasCalibrationModel::start()
// Disable gyro bias correction while calibrating
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
// Zero board rotation
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
// Zero board level trim
attitudeSettingsData.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL] = 0;
attitudeSettingsData.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH] = 0;
attitudeSettings->setData(attitudeSettingsData);
UAVObject::Metadata gyroStateMetadata = gyroState->getMetadata();

32
ground/gcs/src/plugins/config/configrevowidget.cpp
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@ -238,19 +238,25 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
if (!isBoardRotationStored) {
UAVObjectUpdaterHelper updateHelper;
// Store current board rotation
// Store current board rotation and board level trim
isBoardRotationStored = true;
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW] = data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW];
storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW] = data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW];
storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
storedBoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL] = data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL];
storedBoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH] = data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH];
// Set board rotation to no rotation
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
// Set board rotation to zero
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
// Set board level trim to zero
data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL] = 0;
data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH] = 0;
attitudeSettings->setData(data, false);
updateHelper.doObjectAndWait(attitudeSettings);
@ -281,13 +287,15 @@ void ConfigRevoWidget::recallBoardRotation()
// Recall current board rotation
isBoardRotationStored = false;
// Restore the flight controller board rotation
// Restore the flight controller board rotation and board level trim
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW];
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = storedBoardRotation[AttitudeSettings::BOARDROTATION_YAW];
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = storedBoardRotation[AttitudeSettings::BOARDROTATION_ROLL];
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL] = storedBoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_ROLL];
data.BoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH] = storedBoardLevelTrim[AttitudeSettings::BOARDLEVELTRIM_PITCH];
attitudeSettings->setData(data, false);
updateHelper.doObjectAndWait(attitudeSettings);

3
ground/gcs/src/plugins/config/configrevowidget.h
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@ -62,7 +62,8 @@ private:
Ui_RevoSensorsWidget *m_ui;
// Board rotation store/recall for FC and for aux mag
qint16 storedBoardRotation[3];
float storedBoardRotation[3];
float storedBoardLevelTrim[2];
qint16 auxMagStoredBoardRotation[3];
bool isBoardRotationStored;