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Code Issues Releases Activity

OP-975 have differenet set of messages for accel only(ignore orientation on xy plane) and mag calibration.

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This commit is contained in:
Alessio Morale 2014-05-03 18:40:04 +02:00
parent cd27914a56
commit c15b415499
2 changed files with 62 additions and 27 deletions
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71
ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
View File

@ -40,12 +40,44 @@
namespace OpenPilot {
SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
QObject(parent),
calibrationStepsMag(),
calibrationStepsAccelOnly(),
currentSteps(0),
position(-1),
calibratingMag(false),
calibratingAccel(false),
collectingData(false)
{}
{
calibrationStepsMag.clear();
calibrationStepsMag
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
tr("Place horizontally, nose pointing north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down, right side west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down, nose west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down, nose east and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up, left side north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down, nose south and click save position..."));
calibrationStepsAccelOnly.clear();
calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
tr("Place horizontally and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down and click save position..."));
}
/********** Six point calibration **************/
@ -71,6 +103,12 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
// Store and reset board rotation before calibration starts
storeAndClearBoardRotation();
if(calibrateMag){
currentSteps = &calibrationStepsMag;
} else {
currentSteps = &calibrationStepsAccelOnly;
}
RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
@ -155,9 +193,11 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
mdata.flightTelemetryUpdatePeriod = 100;
mag->setMetadata(mdata);
}
/* Show instructions and enable controls */
displayInstructions(tr("Place horizontally, nose pointing north and click save position..."), true);
showHelp(CALIBRATION_HELPER_IMAGE_NED);
displayInstructions((*currentSteps)[0].instructions, true);
showHelp((*currentSteps)[0].visualHelp);
disableAllCalibrations();
savePositionEnabledChanged(true);
position = 0;
@ -269,27 +309,10 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
}
position = (position + 1) % 6;
if (position == 1) {
displayInstructions(tr("Place with nose down, right side west and click save position..."), false);
showHelp(CALIBRATION_HELPER_IMAGE_DWN);
}
if (position == 2) {
displayInstructions(tr("Place right side down, nose west and click save position..."), false);
showHelp(CALIBRATION_HELPER_IMAGE_WDS);
}
if (position == 3) {
displayInstructions(tr("Place upside down, nose east and click save position..."), false);
showHelp(CALIBRATION_HELPER_IMAGE_ENU);
}
if (position == 4) {
displayInstructions(tr("Place with nose up, left side north and click save position..."), false);
showHelp(CALIBRATION_HELPER_IMAGE_USE);
}
if (position == 5) {
displayInstructions(tr("Place with left side down, nose south and click save position..."), false);
showHelp(CALIBRATION_HELPER_IMAGE_SUW);
}
if (position == 0) {
if (position != 0) {
displayInstructions((*currentSteps)[position].instructions, false);
showHelp((*currentSteps)[position].visualHelp);
} else {
#ifdef FITTING_USING_CONTINOUS_ACQUISITION
if (calibratingMag) {
disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));

18
ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h
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@ -31,7 +31,7 @@
#include <QObject>
#include <QList>
#include "calibration/calibrationutils.h"
#include <QString>
#include <revocalibration.h>
#include <accelgyrosettings.h>
#include <homelocation.h>
@ -41,6 +41,17 @@ namespace OpenPilot {
class SixPointCalibrationModel : public QObject {
Q_OBJECT
class CalibrationStep{
public:
CalibrationStep(QString newVisualHelp, QString newInstructions){
visualHelp = newVisualHelp;
instructions = newInstructions;
}
QString visualHelp;
QString instructions;
};
typedef struct {
RevoCalibration::DataFields revoCalibration;
AccelGyroSettings::DataFields accelGyroSettings;
@ -68,8 +79,9 @@ private slots:
private:
void start(bool calibrateAccel, bool calibrateMag);
UAVObjectManager *getObjectManager();
QList<CalibrationStep> calibrationStepsMag;
QList<CalibrationStep> calibrationStepsAccelOnly;
QList<CalibrationStep> *currentSteps;
UAVObject::Metadata initialAccelStateMdata;
UAVObject::Metadata initialMagStateMdata;
float initialMagCorrectionRate;