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https://bitbucket.org/librepilot/librepilot.git
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LP-240 Change names to Auxiliary - Disable auxMag alarm if not available.
This commit is contained in:
Laurent Lalanne
parent
9c4b7498cd
commit
e1dadbce02
@ -60,6 +60,8 @@
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// #define DEBUG
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#define MAG_ALARM_THRESHOLD 20
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// Uncomment this to enable 6 point calibration on the accels
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#define NOISE_SAMPLES 50
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@ -406,6 +408,7 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
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m_ui->beBox->setText(beStr);
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getMagBeVector();
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onBoardAuxMagError();
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}
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void ConfigRevoWidget::updateObjectsFromWidgets()
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@ -517,59 +520,66 @@ void ConfigRevoWidget::onBoardAuxMagError()
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onboardMag[1] = magData.y;
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onboardMag[2] = magData.z;
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auxMag[0] = auxMagData.x;
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auxMag[1] = auxMagData.y;
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auxMag[2] = auxMagData.z;
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float normalizedMag[3];
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float normalizedAuxMag[3];
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float xDiff = 0.0f;
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float yDiff = 0.0f;
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float zDiff = 0.0f;
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// Smooth Mag readings
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float alpha = 0.8f;
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float inv_alpha = (1.0f - alpha);
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// OnBoard mag
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onboardMagFiltered[0] = (onboardMagFiltered[0] * alpha) + (onboardMag[0] * inv_alpha);
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onboardMagFiltered[1] = (onboardMagFiltered[1] * alpha) + (onboardMag[1] * inv_alpha);
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onboardMagFiltered[2] = (onboardMagFiltered[2] * alpha) + (onboardMag[2] * inv_alpha);
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auxMagFiltered[0] = (auxMagFiltered[0] * alpha) + (auxMag[0] * inv_alpha);
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auxMagFiltered[1] = (auxMagFiltered[1] * alpha) + (auxMag[1] * inv_alpha);
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auxMagFiltered[2] = (auxMagFiltered[2] * alpha) + (auxMag[2] * inv_alpha);
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// Normalize vector
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float magLenght = sqrt((onboardMagFiltered[0] * onboardMagFiltered[0]) +
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(onboardMagFiltered[1] * onboardMagFiltered[1]) +
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(onboardMagFiltered[2] * onboardMagFiltered[2]));
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// Normalize vectors
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float magLenght = sqrt((onboardMagFiltered[0] * onboardMagFiltered[0]) +
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(onboardMagFiltered[1] * onboardMagFiltered[1]) +
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(onboardMagFiltered[2] * onboardMagFiltered[2]));
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float auxMagLenght = sqrt((auxMagFiltered[0] * auxMagFiltered[0]) +
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(auxMagFiltered[1] * auxMagFiltered[1]) +
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(auxMagFiltered[2] * auxMagFiltered[2]));
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normalizedMag[0] = onboardMagFiltered[0] / magLenght;
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normalizedMag[1] = onboardMagFiltered[1] / magLenght;
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normalizedMag[2] = onboardMagFiltered[2] / magLenght;
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if (auxMagData.Status > AuxMagSensor::STATUS_NONE) {
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auxMag[0] = auxMagData.x;
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auxMag[1] = auxMagData.y;
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auxMag[2] = auxMagData.z;
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normalizedMag[0] = onboardMagFiltered[0] / magLenght;
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normalizedMag[1] = onboardMagFiltered[1] / magLenght;
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normalizedMag[2] = onboardMagFiltered[2] / magLenght;
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auxMagFiltered[0] = (auxMagFiltered[0] * alpha) + (auxMag[0] * inv_alpha);
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auxMagFiltered[1] = (auxMagFiltered[1] * alpha) + (auxMag[1] * inv_alpha);
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auxMagFiltered[2] = (auxMagFiltered[2] * alpha) + (auxMag[2] * inv_alpha);
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normalizedAuxMag[0] = auxMagFiltered[0] / auxMagLenght;
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normalizedAuxMag[1] = auxMagFiltered[1] / auxMagLenght;
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normalizedAuxMag[2] = auxMagFiltered[2] / auxMagLenght;
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// Normalize vector
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float auxMagLenght = sqrt((auxMagFiltered[0] * auxMagFiltered[0]) +
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(auxMagFiltered[1] * auxMagFiltered[1]) +
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(auxMagFiltered[2] * auxMagFiltered[2]));
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// Calc diff and scale
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float xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
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float yDiff = (normalizedMag[1] - normalizedAuxMag[1]) * 25.0f;
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float zDiff = (normalizedMag[2] - normalizedAuxMag[2]) * 25.0f;
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normalizedAuxMag[0] = auxMagFiltered[0] / auxMagLenght;
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normalizedAuxMag[1] = auxMagFiltered[1] / auxMagLenght;
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normalizedAuxMag[2] = auxMagFiltered[2] / auxMagLenght;
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// Calc diff and scale
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xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
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yDiff = (normalizedMag[1] - normalizedAuxMag[1]) * 25.0f;
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zDiff = (normalizedMag[2] - normalizedAuxMag[2]) * 25.0f;
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} else {
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auxMag[0] = auxMag[1] = auxMag[2] = 0.0f;
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auxMagFiltered[0] = auxMagFiltered[1] = auxMagFiltered[2] = 0.0f;
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}
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// Display Mag/AuxMag diff for every axis
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m_ui->internalAuxErrorX->setValue(xDiff > 50.0f ? 50.0f : xDiff < -50.0f ? -50.0f : xDiff);
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m_ui->internalAuxErrorY->setValue(yDiff > 50.0f ? 50.0f : yDiff < -50.0f ? -50.0f : yDiff);
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m_ui->internalAuxErrorZ->setValue(zDiff > 50.0f ? 50.0f : zDiff < -50.0f ? -50.0f : zDiff);
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updateMagAlarm(getMagError(onboardMag), getMagError(auxMag));
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updateMagAlarm(getMagError(onboardMag), (auxMagData.Status == AuxMagSensor::STATUS_NONE) ? -1.0f : getMagError(auxMag));
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}
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void ConfigRevoWidget::updateMagAlarm(float errorMag, float errorAuxMag)
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{
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#define ALARM_THRESHOLD 20
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RevoSettings *revoSettings = RevoSettings::GetInstance(getObjectManager());
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Q_ASSERT(revoSettings);
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RevoSettings::DataFields revoSettingsData = revoSettings->getData();
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@ -585,38 +595,43 @@ void ConfigRevoWidget::updateMagAlarm(float errorMag, float errorAuxMag)
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if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
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magErrorCount = 0;
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if (magWarningCount > ALARM_THRESHOLD) {
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if (magWarningCount > MAG_ALARM_THRESHOLD) {
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bgColorMag = "orange";
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} else {
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magWarningCount++;
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}
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}
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if (magErrorCount > ALARM_THRESHOLD) {
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if (magErrorCount > MAG_ALARM_THRESHOLD) {
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bgColorMag = "red";
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} else {
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magErrorCount++;
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}
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// External Mag
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
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auxMagWarningCount = 0;
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auxMagErrorCount = 0;
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}
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
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auxMagErrorCount = 0;
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if (auxMagWarningCount > ALARM_THRESHOLD) {
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bgColorAuxMag = "orange";
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} else {
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auxMagWarningCount++;
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// Auxiliary Mag
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if (errorAuxMag > -1.0f) {
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
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auxMagWarningCount = 0;
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auxMagErrorCount = 0;
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}
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}
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if (auxMagErrorCount > ALARM_THRESHOLD) {
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bgColorAuxMag = "red";
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if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
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auxMagErrorCount = 0;
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if (auxMagWarningCount > MAG_ALARM_THRESHOLD) {
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bgColorAuxMag = "orange";
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} else {
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auxMagWarningCount++;
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}
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}
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if (auxMagErrorCount > MAG_ALARM_THRESHOLD) {
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bgColorAuxMag = "red";
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} else {
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auxMagErrorCount++;
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}
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} else {
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auxMagErrorCount++;
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// Disable aux mag alarm
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bgColorAuxMag = "grey";
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}
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m_ui->onBoardMagStatus->setStyleSheet(
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@ -659,12 +674,16 @@ void ConfigRevoWidget::updateMagStatus()
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if (magStateData.Source == MagState::SOURCE_INVALID) {
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m_ui->magStatusSource->setText(tr("Source invalid"));
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m_ui->magStatusSource->setToolTip(tr("Currently no attitude estimation algorithm uses magnetometer or there is something wrong"));
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} else if (magStateData.Source == MagState::SOURCE_ONBOARD) {
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m_ui->magStatusSource->setText(tr("OnBoard mag"));
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m_ui->magStatusSource->setText(tr("OnBoard magnetometer"));
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m_ui->magStatusSource->setToolTip("");
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} else if (magStateData.Source == MagState::SOURCE_AUX) {
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m_ui->magStatusSource->setText(tr("External mag"));
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m_ui->magStatusSource->setText(tr("Auxiliary magnetometer"));
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m_ui->magStatusSource->setToolTip("");
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} else {
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m_ui->magStatusSource->setText(tr("Unknown"));
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m_ui->magStatusSource->setToolTip("");
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}
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}
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@ -438,8 +438,8 @@
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<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'Cantarell'; font-size:10pt; font-weight:400; font-style:normal;">
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-weight:600;"><br /></p></body></html></string>
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</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:10pt; font-weight:400; font-style:normal;">
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"><br /></p></body></html></string>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::NoTextInteraction</set>
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@ -955,7 +955,7 @@ A setting of 0.00 disables the filter.</string>
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<bool>true</bool>
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</property>
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<attribute name="title">
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<string>Mag Settings</string>
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<string>Magnetometer</string>
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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@ -975,7 +975,7 @@ A setting of 0.00 disables the filter.</string>
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<item row="0" column="1">
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<widget class="QGroupBox" name="gridGroupBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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@ -987,7 +987,7 @@ A setting of 0.00 disables the filter.</string>
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</size>
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</property>
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<property name="title">
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<string>External Mag Orientation Help</string>
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<string>Auxiliary Magnetometer Orientation Help</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_10">
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<property name="leftMargin">
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@ -1117,8 +1117,8 @@ font:bold;</string>
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<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The bargraphs show the difference between the onboard magnetometer and external magnetometer measurements. </p>
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<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When the external magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) <a name="result_box"></a>whatever the vehicle's orientation.</p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The bargraphs show the difference between the onboard and auxiliary magnetometer measurements. </p>
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<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When the auxiliary magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) <a name="result_box"></a>whatever the vehicle's orientation.</p>
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<p align="justify" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This assumes both magnetometers are calibrated and without alarm.</p></body></html></string>
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</property>
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<property name="textInteractionFlags">
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@ -1228,7 +1228,7 @@ font:bold;</string>
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</size>
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</property>
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<property name="text">
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<string>Mag use:</string>
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<string>Mag usage:</string>
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</property>
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</widget>
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</item>
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@ -1266,7 +1266,7 @@ font:bold;</string>
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</size>
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</property>
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<property name="toolTip">
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<string>Select how to use magnetometers.</string>
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<string>Select how to use available magnetometers.</string>
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</property>
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</widget>
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</item>
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@ -1404,19 +1404,6 @@ font:bold;</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="magStatusSource">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="text">
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<string>external</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label">
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<property name="minimumSize">
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@ -1465,6 +1452,19 @@ font:bold;</string>
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</property>
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</spacer>
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</item>
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<item row="1" column="1" colspan="2">
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<widget class="QLabel" name="magStatusSource">
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="text">
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<string>external</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@ -1477,7 +1477,7 @@ font:bold;</string>
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</sizepolicy>
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</property>
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<property name="title">
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<string>Rotate Magnetometer Orientation</string>
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<string>Auxiliary Magnetometer Orientation</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,0">
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<property name="sizeConstraint">
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