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Code Issues Releases Activity

Make sure we don't use null pointers when refreshing the revo sensor bar graphs

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This commit is contained in:
James Cotton 2012-06-13 13:19:17 -05:00
parent 7f15e87890
commit d94ab30616
1 changed files with 25 additions and 12 deletions
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37
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
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@ -76,9 +76,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
m_ui = new Ui_RevoSensorsWidget(); m_ui = new Ui_RevoSensorsWidget();
m_ui->setupUi(this); m_ui->setupUi(this);
addUAVObject("RevoCalibration");
autoLoadWidgets();
// Initialization of the Paper plane widget // Initialization of the Paper plane widget
m_ui->sixPointsHelp->setScene(new QGraphicsScene(this)); m_ui->sixPointsHelp->setScene(new QGraphicsScene(this));
@ -209,6 +206,11 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
mag_z->setPos(startX,startY); mag_z->setPos(startX,startY);
mag_z->setTransform(QTransform::fromScale(1,0),true); mag_z->setTransform(QTransform::fromScale(1,0),true);
// Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues
// will be dealing with some null pointers
addUAVObject("RevoCalibration");
autoLoadWidgets();
// Connect the signals // Connect the signals
connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(launchAccelBiasCalibration())); connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(launchAccelBiasCalibration()));
@ -708,31 +710,42 @@ void ConfigRevoWidget::drawVariancesGraph()
{ {
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager()); RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration); Q_ASSERT(revoCalibration);
if(!revoCalibration)
return;
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
// The expected range is from 1E-6 to 1E-1 // The expected range is from 1E-6 to 1E-1
double steps = 6; // 6 bars on the graph double steps = 6; // 6 bars on the graph
float accel_x_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_X])); float accel_x_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_X]));
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false); if(accel_x)
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
float accel_y_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Y])); float accel_y_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Y]));
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false); if(accel_y)
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
float accel_z_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Z])); float accel_z_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Z]));
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false); if(accel_z)
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
float gyro_x_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_X])); float gyro_x_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_X]));
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false); if(gyro_x)
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
float gyro_y_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Y])); float gyro_y_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Y]));
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false); if(gyro_y)
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
float gyro_z_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Z])); float gyro_z_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Z]));
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false); if(gyro_z)
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
// Scale by 1e-3 because mag vars are much higher. // Scale by 1e-3 because mag vars are much higher.
float mag_x_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_X])); float mag_x_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_X]));
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false); if(mag_x)
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
float mag_y_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Y])); float mag_y_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Y]));
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false); if(mag_y)
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
float mag_z_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Z])); float mag_z_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Z]));
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false); if(mag_z)
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
} }
/** /**