mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
LP-392 Attitude tab : initGyroWhenBoardSteady and zeroGyroBiasOnArming to Revo
This commit is contained in:
Laurent Lalanne
parent
1647982fca
commit
af9f0599dd
@ -366,6 +366,33 @@ 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 prevent gyro initialisation while the board is moving.</string>
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</property>
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<property name="text">
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<string>Wait 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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@ -376,7 +403,7 @@ whenever the frame is armed. Do not move the airframe 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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@ -487,251 +487,6 @@ 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="1" column="1">
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<widget class="QGroupBox" name="groupBox_3">
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<property name="title">
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<string>Rotate virtual attitude relative to board</string>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0,0,0,0">
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<item row="1" column="2">
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<spacer name="horizontalSpacer_8">
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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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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="pitchRotation">
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<property name="minimum">
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<double>-180.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="4">
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<spacer name="horizontalSpacer_9">
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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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<item row="0" column="1">
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<widget class="QLabel" name="label_12">
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<property name="minimumSize">
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<size>
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<width>70</width>
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<height>0</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>Roll</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="0" column="5">
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<widget class="QLabel" name="label_13">
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<property name="minimumSize">
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<size>
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<width>70</width>
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<height>0</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>Yaw</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="1" column="0">
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<spacer name="horizontalSpacer_7">
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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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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="rollRotation">
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<property name="minimum">
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<double>-180.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="3">
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<widget class="QLabel" name="label_15">
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<property name="minimumSize">
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<size>
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<width>70</width>
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<height>0</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>Pitch</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="1" column="5">
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<widget class="QDoubleSpinBox" name="yawRotation">
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<property name="minimum">
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<double>-180.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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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="QGroupBox" name="groupBox_4">
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<property name="title">
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<string>Filtering</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_5">
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<item row="0" column="0">
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<widget class="QLabel" name="label_14">
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<property name="toolTip">
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<string/>
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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>Accelerometers</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="1" column="0">
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<widget class="QDoubleSpinBox" name="accelTau">
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<property name="toolTip">
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<string>Accelerometer filtering.
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Sets the amount of lowpass filtering of accelerometer data
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for the attitude estimation. Higher values apply a stronger
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filter, which may help with drifting in attitude mode.
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Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
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Start low and raise until drift stops.
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A setting of 0.00 disables the filter.</string>
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</property>
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<property name="maximum">
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<double>2.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QGroupBox" name="groupBox_2">
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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>Attitude Estimation Algorithm</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_3">
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<item row="0" column="0" alignment="Qt::AlignTop">
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<widget class="QComboBox" name="FusionAlgorithm">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" 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="toolTip">
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<string>Selects the sensor integration algorithm to be used by the Revolution board.</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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<spacer name="verticalSpacer_2">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeType">
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<enum>QSizePolicy::MinimumExpanding</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>20</width>
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<height>0</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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</widget>
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</item>
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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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@ -930,6 +685,292 @@ A setting of 0.00 disables the filter.</string>
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</property>
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</spacer>
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</item>
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<item row="1" column="1">
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<widget class="QGroupBox" name="groupBox_3">
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<property name="title">
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<string>Rotate virtual attitude relative to board</string>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0,0,0,0">
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<item row="1" column="2">
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<spacer name="horizontalSpacer_8">
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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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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="pitchRotation">
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<property name="minimum">
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<double>-180.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="4">
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<spacer name="horizontalSpacer_9">
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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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<item row="0" column="1">
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<widget class="QLabel" name="label_12">
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<property name="minimumSize">
|
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<size>
|
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<width>70</width>
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<height>0</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>Roll</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="0" column="5">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<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;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
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||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="rollRotation">
|
||||
<property name="minimum">
|
||||
<double>-180.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
</widget>
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</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>70</width>
|
||||
<height>0</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;
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||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="5">
|
||||
<widget class="QDoubleSpinBox" name="yawRotation">
|
||||
<property name="minimum">
|
||||
<double>-180.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</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 frame is armed. Do not move the airframe 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 prevent gyro initialisation while the board is moving.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Wait 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">
|
||||
<string>Filtering</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="toolTip">
|
||||
<string/>
|
||||
</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>Accelerometers</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="accelTau">
|
||||
<property name="toolTip">
|
||||
<string>Accelerometer filtering.
|
||||
|
||||
Sets the amount of lowpass filtering of accelerometer data
|
||||
for the attitude estimation. Higher values apply a stronger
|
||||
filter, which may help with drifting in attitude mode.
|
||||
|
||||
Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
|
||||
Start low and raise until drift stops.
|
||||
|
||||
A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>2.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user