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Code Issues Releases Activity

OP-990 Some fixes to calibration in wizard

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1) zeroes any existing bias prior to calibration.
2) Quick and dirty fix to missing UAVO updates during calibration setup
3) missing resetting of BiasCorrectGyro to true on Revolution after save.
This commit is contained in:
Alessio Morale 2013-06-05 22:24:12 +02:00
parent c0b926a2d5
commit be999329b9
2 changed files with 33 additions and 4 deletions
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35
ground/openpilotgcs/src/plugins/setupwizard/biascalibrationutil.cpp
View File

@ -32,6 +32,7 @@
#include "accels.h"
#include "gyros.h"
#include "qdebug.h"
#include "revocalibration.h"
BiasCalibrationUtil::BiasCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
@ -137,11 +138,33 @@ void BiasCalibrationUtil::startMeasurement()
UAVObjectManager *uavObjectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavObjectManager);
RevoCalibration *revolutionCalibration = RevoCalibration::GetInstance(uavObjectManager);
Q_ASSERT(revolutionCalibration);
RevoCalibration::DataFields revoCalibrationData = revolutionCalibration->getData();
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] = 0;
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] = 0;
revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] = 0;
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_X] = 0;
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_Y] = 0;
revoCalibrationData.gyro_bias[RevoCalibration::GYRO_BIAS_Z] = 0;
revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
int i;
for(i = 0; i < 5; i++){
RevoCalibration::GetInstance(uavObjectManager)->setData(revoCalibrationData);
}
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
attitudeSettingsData.AccelBias[AttitudeSettings::ACCELBIAS_X] = 0;
attitudeSettingsData.AccelBias[AttitudeSettings::ACCELBIAS_Y] = 0;
attitudeSettingsData.AccelBias[AttitudeSettings::ACCELBIAS_Z] = 0;
attitudeSettingsData.GyroBias[AttitudeSettings::GYROBIAS_X] = 0;
attitudeSettingsData.GyroBias[AttitudeSettings::GYROBIAS_Y] = 0;
attitudeSettingsData.GyroBias[AttitudeSettings::GYROBIAS_Z] = 0;
for(i = 0; i < 5; i++){
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
}
// Set up to receive updates for accels
UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
connect(uavObject, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(accelMeasurementsUpdated(UAVObject *)));
@ -151,8 +174,10 @@ void BiasCalibrationUtil::startMeasurement()
UAVObject::Metadata newMetaData = m_previousAccelMetaData;
UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
newMetaData.flightTelemetryUpdatePeriod = m_accelMeasurementRate;
uavObject->setMetadata(newMetaData);
for(i = 0; i < 5; i++){
uavObject->setMetadata(newMetaData);
}
// Set up to receive updates from gyros
uavObject = Gyros::GetInstance(uavObjectManager);
connect(uavObject, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(gyroMeasurementsUpdated(UAVObject *)));
@ -162,7 +187,9 @@ void BiasCalibrationUtil::startMeasurement()
newMetaData = m_previousGyroMetaData;
UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
newMetaData.flightTelemetryUpdatePeriod = m_gyroMeasurementRate;
uavObject->setMetadata(newMetaData);
for(i = 0; i < 5; i++){
uavObject->setMetadata(newMetaData);
}
}
void BiasCalibrationUtil::stopMeasurement()

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -357,6 +357,8 @@ void VehicleConfigurationHelper::applySensorBiasConfiguration()
data.GyroBias[AttitudeSettings::GYROBIAS_Y] = -(bias.m_gyroYBias * GYRO_SCALE);
data.GyroBias[AttitudeSettings::GYROBIAS_Z] = -(bias.m_gyroZBias * GYRO_SCALE);
data.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
copterControlCalibration->setData(data);
addModifiedObject(copterControlCalibration, tr("Writing gyro and accelerometer bias settings"));
break;