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Code Issues Releases Activity

Fixes/tweaks to GCS levelling code. Fixed a deadlock and take more samples

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This commit is contained in:
Richard Flay (Hyper) 2012-09-08 15:58:39 +09:30
parent 2a4e135c81
commit c5745b0817
2 changed files with 16 additions and 15 deletions
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27
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -64,8 +64,13 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
} }
void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) { void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
QMutexLocker locker(&startStop);
if (!timer.isActive()) {
// ignore updates that come in after the timer has expired
return;
}
// update the progress indicator
ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100); ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100);
Accels * accels = Accels::GetInstance(getObjectManager()); Accels * accels = Accels::GetInstance(getObjectManager());
@ -83,7 +88,7 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
x_gyro_accum.append(gyrosData.x); x_gyro_accum.append(gyrosData.x);
y_gyro_accum.append(gyrosData.y); y_gyro_accum.append(gyrosData.y);
z_gyro_accum.append(gyrosData.z); z_gyro_accum.append(gyrosData.z);
} else if ( accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) { } else if ( accelUpdates >= NUM_SENSOR_UPDATES || gyroUpdates >= NUM_SENSOR_UPDATES) {
timer.stop(); timer.stop();
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*))); disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout())); disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@ -115,7 +120,6 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
} }
void ConfigCCAttitudeWidget::timeout() { void ConfigCCAttitudeWidget::timeout() {
QMutexLocker locker(&startStop);
UAVDataObject * obj = Accels::GetInstance(getObjectManager()); UAVDataObject * obj = Accels::GetInstance(getObjectManager());
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*))); disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout())); disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@ -130,12 +134,11 @@ void ConfigCCAttitudeWidget::timeout() {
msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec(); msgBox.exec();
// reset progress indicator
ui->zeroBiasProgress->setValue(0);
} }
void ConfigCCAttitudeWidget::startAccelCalibration() { void ConfigCCAttitudeWidget::startAccelCalibration() {
QMutexLocker locker(&startStop);
accelUpdates = 0; accelUpdates = 0;
gyroUpdates = 0; gyroUpdates = 0;
x_accum.clear(); x_accum.clear();
@ -156,10 +159,6 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
connect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*))); connect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
connect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*))); connect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
// Set up timeout timer
timer.start(10000);
connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
// Speed up updates // Speed up updates
initialAccelsMdata = accels->getMetadata(); initialAccelsMdata = accels->getMetadata();
UAVObject::Metadata accelsMdata = initialAccelsMdata; UAVObject::Metadata accelsMdata = initialAccelsMdata;
@ -173,11 +172,16 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
gyrosMdata.flightTelemetryUpdatePeriod = 30; gyrosMdata.flightTelemetryUpdatePeriod = 30;
gyros->setMetadata(gyrosMdata); gyros->setMetadata(gyrosMdata);
// Set up timeout timer
timer.setSingleShot(true);
timer.start(5000 + (NUM_SENSOR_UPDATES * qMin(accelsMdata.flightTelemetryUpdatePeriod,
gyrosMdata.flightTelemetryUpdatePeriod)));
connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
} }
void ConfigCCAttitudeWidget::openHelp() void ConfigCCAttitudeWidget::openHelp()
{ {
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) ); QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) );
} }
@ -186,7 +190,6 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
if(ui->zeroBias) if(ui->zeroBias)
ui->zeroBias->setEnabled(enable); ui->zeroBias->setEnabled(enable);
ConfigTaskWidget::enableControls(enable); ConfigTaskWidget::enableControls(enable);
} }
void ConfigCCAttitudeWidget::updateObjectsFromWidgets() void ConfigCCAttitudeWidget::updateObjectsFromWidgets()

4
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -34,7 +34,6 @@
#include "uavobject.h" #include "uavobject.h"
#include <QtGui/QWidget> #include <QtGui/QWidget>
#include <QTimer> #include <QTimer>
#include <QMutex>
class Ui_Widget; class Ui_Widget;
@ -55,7 +54,6 @@ private slots:
void openHelp(); void openHelp();
private: private:
QMutex startStop;
Ui_ccattitude *ui; Ui_ccattitude *ui;
QTimer timer; QTimer timer;
UAVObject::Metadata initialAccelsMdata; UAVObject::Metadata initialAccelsMdata;
@ -67,7 +65,7 @@ private:
QList<double> x_accum, y_accum, z_accum; QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum; QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const int NUM_SENSOR_UPDATES = 60; static const int NUM_SENSOR_UPDATES = 300;
static const float ACCEL_SCALE = 0.004f * 9.81f; static const float ACCEL_SCALE = 0.004f * 9.81f;
protected: protected:
virtual void enableControls(bool enable); virtual void enableControls(bool enable);