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Code Issues Releases Activity

LP-388 Use UAVObjectUpdaterHelper and avoid telemetry errors

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This commit is contained in:
Laurent Lalanne 2016-08-22 01:43:40 +02:00
parent daba66d32f
commit b16e4838eb
2 changed files with 30 additions and 11 deletions
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17
ground/gcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
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@ -2,7 +2,8 @@
******************************************************************************
*
* @file sixpointcalibrationmodel.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @brief Six point calibration for Magnetometer and Accelerometer
* @see The GNU Public License (GPL) Version 3
@ -29,6 +30,7 @@
#include "extensionsystem/pluginmanager.h"
#include "calibration/calibrationuiutils.h"
#include "uavobjectmanager.h"
#include <uavobjecthelper.h>
#include <math.h>
#include <QThread>
@ -156,6 +158,8 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
// Store and reset board rotation before calibration starts
storeAndClearBoardRotation();
UAVObjectUpdaterHelper updateHelper;
// Calibration accel
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
memento.accelGyroSettingsData = accelGyroSettingsData;
@ -167,7 +171,8 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = 0;
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = 0;
accelGyroSettings->setData(accelGyroSettingsData);
accelGyroSettings->setData(accelGyroSettingsData, false);
updateHelper.doObjectAndWait(accelGyroSettings);
// Calibration mag
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
@ -187,7 +192,8 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
// Disable adaptive mag nulling
revoCalibrationData.MagBiasNullingRate = 0;
revoCalibration->setData(revoCalibrationData);
revoCalibration->setData(revoCalibrationData, false);
updateHelper.doObjectAndWait(revoCalibration);
// Calibration AuxMag
AuxMagSettings::DataFields auxMagSettingsData = auxMagSettings->getData();
@ -207,9 +213,8 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
// Disable adaptive mag nulling
auxMagSettingsData.MagBiasNullingRate = 0;
auxMagSettings->setData(auxMagSettingsData);
QThread::usleep(100000);
auxMagSettings->setData(auxMagSettingsData, false);
updateHelper.doObjectAndWait(auxMagSettings);
mag_accum_x.clear();
mag_accum_y.clear();

24
ground/gcs/src/plugins/config/configrevowidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file ConfigRevoWidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -28,6 +29,7 @@
#include "ui_revosensors.h"
#include <uavobjecthelper.h>
#include <attitudestate.h>
#include <attitudesettings.h>
#include <revocalibration.h>
@ -255,6 +257,8 @@ void ConfigRevoWidget::updateVisualHelp()
void ConfigRevoWidget::storeAndClearBoardRotation()
{
if (!isBoardRotationStored) {
UAVObjectUpdaterHelper updateHelper;
// Store current board rotation
isBoardRotationStored = true;
AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
@ -268,7 +272,9 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
data.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = 0;
data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = 0;
attitudeSettings->setData(data);
attitudeSettings->setData(data, false);
updateHelper.doObjectAndWait(attitudeSettings);
// Store current aux mag board rotation
AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
@ -282,13 +288,17 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW] = 0;
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = 0;
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = 0;
auxMagSettings->setData(auxMagData);
auxMagSettings->setData(auxMagData, false);
updateHelper.doObjectAndWait(auxMagSettings);
}
}
void ConfigRevoWidget::recallBoardRotation()
{
if (isBoardRotationStored) {
UAVObjectUpdaterHelper updateHelper;
// Recall current board rotation
isBoardRotationStored = false;
@ -299,7 +309,9 @@ void ConfigRevoWidget::recallBoardRotation()
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];
attitudeSettings->setData(data);
attitudeSettings->setData(data, false);
updateHelper.doObjectAndWait(attitudeSettings);
// Restore the aux mag board rotation
AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
@ -308,7 +320,9 @@ void ConfigRevoWidget::recallBoardRotation()
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW];
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL];
auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH];
auxMagSettings->setData(auxMagData);
auxMagSettings->setData(auxMagData, false);
updateHelper.doObjectAndWait(auxMagSettings);
}
}