rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-01 18:29:16 +01:00
Code Issues Releases Activity

OP-38 Ground/Config Gadget : another try at making AHRS settings more intuitive. And the Object queue now works (...)

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1558 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-09-07 20:08:29 +00:00 committed by edouard
parent b5608ed2ac
commit b53f19dc03
4 changed files with 79 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

65
ground/src/plugins/config/ahrs.ui
View File

@ -182,31 +182,39 @@ Hint: run this with engines at cruising speed.</string>
<string>Six Point Calibration instructions</string>
</property>
</widget>
<widget class="QPushButton" name="homeLocation">
<widget class="QRadioButton" name="homeLocationSet">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>380</x>
<x>480</x>
<y>361</y>
<width>201</width>
<width>51</width>
<height>31</height>
</rect>
</property>
<property name="toolTip">
<string>Saves the Home Location. This is only enabled
if the Home Location is set, i.e. if the GPS fix is
successful.</string>
successful.
Disabled if there is no GPS fix.</string>
</property>
<property name="text">
<string>Save Home Location to SD</string>
<string>Set</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QPushButton" name="ahrsSettingsRequest">
<property name="geometry">
<rect>
<x>260</x>
<x>280</x>
<y>430</y>
<width>93</width>
<height>27</height>
@ -303,13 +311,13 @@ Only makes sense with the &quot;INSGPS&quot; algorithm.</string>
<string>Indoor flight mode</string>
</property>
</widget>
<widget class="QRadioButton" name="ahrsSettingsSaveRAM">
<widget class="QPushButton" name="ahrsSettingsSaveRAM">
<property name="geometry">
<rect>
<x>390</x>
<y>430</y>
<width>111</width>
<height>21</height>
<height>27</height>
</rect>
</property>
<property name="toolTip">
@ -321,17 +329,14 @@ specific calibration button on top of the screen.</string>
<property name="text">
<string>Save to RAM</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QRadioButton" name="ahrsSettingsSaveSD">
<widget class="QPushButton" name="ahrsSettingsSaveSD">
<property name="geometry">
<rect>
<x>520</x>
<y>430</y>
<width>101</width>
<height>21</height>
<height>27</height>
</rect>
</property>
<property name="toolTip">
@ -341,12 +346,46 @@ specific calibration button on top of the screen.</string>
<string>Save to SD</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
<widget class="QRadioButton" name="homeLocationClear">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>550</x>
<y>360</y>
<width>71</width>
<height>31</height>
</rect>
</property>
<property name="toolTip">
<string>Clears the HomeLocation: only makes sense if you save
to SD. This will force the AHRS to use the next GPS fix as the
new home location unless it is in indoor mode.</string>
</property>
<property name="text">
<string>Clear</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QLabel" name="label_4">
<property name="geometry">
<rect>
<x>370</x>
<y>360</y>
<width>101</width>
<height>31</height>
</rect>
</property>
<property name="text">
<string>Home Location:</string>
</property>
</widget>
</widget>
</widget>
<resources/>

56
ground/src/plugins/config/configahrswidget.cpp
View File

@ -188,13 +188,13 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
/*
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
connect(m_ahrs->homeLocation, SIGNAL(clicked()), this, SLOT(homeLocationSaveSD()));
/*
*/
connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
*/
connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
@ -628,10 +628,6 @@ void ConfigAHRSWidget::drawVariancesGraph()
*/
void ConfigAHRSWidget::ahrsSettingsRequest()
{
// First of all, disconnect the autosave signals otherwise the GCS will save
// the settings as soon as it gets them, which is stupid
disconnect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
disconnect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
obj->requestUpdate();
@ -646,17 +642,12 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
m_ahrs->indoorFlight->setChecked(field->getValue().toBool());
field = obj->getField(QString("Set"));
if (field)
m_ahrs->homeLocation->setEnabled(field->getValue().toBool());
m_ahrs->homeLocationSet->setEnabled(field->getValue().toBool());
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->sixPointsStart->setEnabled(true);
m_ahrs->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
// ... and reconnect
connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
}
/**
@ -666,8 +657,9 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
void ConfigAHRSWidget::enableHomeLocSave(UAVObject * obj)
{
UAVObjectField *field = obj->getField(QString("Set"));
if (field)
m_ahrs->homeLocation->setEnabled(field->getValue().toBool());
if (field) {
m_ahrs->homeLocationSet->setEnabled(field->getValue().toBool());
}
// While we're at it, ensure the 'indoor' flag is consistent:
field = obj->getField(QString("Indoor"));
if (field)
@ -676,42 +668,40 @@ void ConfigAHRSWidget::enableHomeLocSave(UAVObject * obj)
/**
Save current settings to SD or RAM (depending on radio button)
Save current settings to RAM
*/
void ConfigAHRSWidget::ahrsSettingsSave()
void ConfigAHRSWidget::ahrsSettingsSaveRAM()
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
field->setValue(m_ahrs->algorithm->currentText());
obj->updated();
if (m_ahrs->ahrsSettingsSaveSD->isChecked())
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Save Home Location settings to SD or RAM (depending on radio button)
*/
void ConfigAHRSWidget::homeLocationSave()
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
UAVObjectField *field = obj->getField(QString("Indoor"));
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
field = obj->getField(QString("Indoor"));
if (m_ahrs->indoorFlight->isChecked())
field->setValue(QString("TRUE"));
else
field->setValue(QString("FALSE"));
field = obj->getField(QString("Set"));
if (m_ahrs->homeLocationSet->isChecked())
field->setValue(QString("TRUE"));
else
field->setValue(QString("FALSE"));
obj->updated();
if (m_ahrs->ahrsSettingsSaveSD->isChecked())
saveObjectToSD(obj);
// updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
Force save Home Location settings to SD
Save AHRS Settings and home location to SD
*/
void ConfigAHRSWidget::homeLocationSaveSD()
void ConfigAHRSWidget::ahrsSettingsSaveSD()
{
ahrsSettingsSaveRAM();
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
saveObjectToSD(obj);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
saveObjectToSD(obj);
}

5
ground/src/plugins/config/configahrswidget.h
View File

@ -99,9 +99,8 @@ private slots:
void calibPhase2();
void incrementProgress();
void ahrsSettingsRequest();
void ahrsSettingsSave();
void homeLocationSave();
void homeLocationSaveSD(); // forces save to SD
void ahrsSettingsSaveRAM();
void ahrsSettingsSaveSD();
void savePositionData();
void computeScaleBias();
void sixPointCalibrationMode();

3
ground/src/plugins/config/configtaskwidget.cpp
View File

@ -57,7 +57,7 @@ void ConfigTaskWidget::saveNextObject()
return;
}
// Get next object from the queue
UAVObject* obj = queue.dequeue();
UAVObject* obj = queue.head();
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
if (obj != NULL)
@ -77,6 +77,7 @@ void ConfigTaskWidget::transactionCompleted(UAVObject* obj, bool success)
Q_UNUSED(success);
// Disconnect from sending object
obj->disconnect(this);
queue.dequeue(); // We can now remove the object, it's done.
saveNextObject();
}