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Code Issues Releases Activity

OP-38 All current AHRS settings are now implemented in the config gadget. Made calibration procedure as foolproof as possible.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1423 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-08-26 21:23:23 +00:00 committed by edouard
parent fd9c4a8265
commit e504ce0491
3 changed files with 57 additions and 31 deletions
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53
ground/src/plugins/config/ahrs.ui
View File

@ -59,13 +59,16 @@ Tip: lower is better!</string>
</rect>
</property>
<property name="text">
<string>Press &quot;Start&quot; above to calibrate.</string>
<string>Telemetry link not established.</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsCalibStart">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>380</x>
<x>440</x>
<y>40</y>
<width>93</width>
<height>27</height>
@ -115,6 +118,9 @@ Takes about 30 seconds max.</string>
<height>31</height>
</rect>
</property>
<property name="toolTip">
<string>Select the sensor integration algorithm here.</string>
</property>
</widget>
<widget class="Line" name="line_2">
<property name="geometry">
@ -153,6 +159,9 @@ Takes about 30 seconds max.</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>230</x>
@ -166,6 +175,9 @@ Takes about 30 seconds max.</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>230</x>
@ -179,6 +191,9 @@ Takes about 30 seconds max.</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>230</x>
@ -202,6 +217,9 @@ Takes about 30 seconds max.</string>
</property>
</widget>
<widget class="QCheckBox" name="checkBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>290</x>
@ -223,6 +241,12 @@ Takes about 30 seconds max.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save settings to the OP board (RAM only).
This does not save the calibration settings, this is done using the
specific calibration button on top of the screen.</string>
</property>
<property name="text">
<string>Save to RAM</string>
</property>
@ -236,6 +260,9 @@ Takes about 30 seconds max.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Send settings to OP board, and save to the microSD card.</string>
</property>
<property name="text">
<string>Save to SD</string>
</property>
@ -249,6 +276,9 @@ Takes about 30 seconds max.</string>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Refresh this screen with current values from the board.</string>
</property>
<property name="text">
<string>Request</string>
</property>
@ -279,25 +309,6 @@ Takes about 30 seconds max.</string>
<string>Sensors calibration</string>
</property>
</widget>
<widget class="QPushButton" name="ahrsCalibSave">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>500</x>
<y>40</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save is only enabled once the calibration is done (&quot;Start&quot; on the left)</string>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QProgressBar" name="calibProgress">
<property name="enabled">
<bool>true</bool>

34
ground/src/plugins/config/configahrswidget.cpp
View File

@ -36,6 +36,7 @@
#include <QtGui/QPushButton>
const double ConfigAHRSWidget::maxVarValue = 0.1;
const int ConfigAHRSWidget::calibrationDelay = 15; // Time to wait for the AHRS to do its calibration
ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
@ -172,7 +173,6 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
// Connect the signals
connect(m_ahrs->ahrsCalibStart, SIGNAL(clicked()), this, SLOT(launchAHRSCalibration()));
connect(m_ahrs->ahrsCalibSave, SIGNAL(clicked()), this, SLOT(saveAHRSCalibration()));
connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
@ -202,14 +202,14 @@ void ConfigAHRSWidget::launchAHRSCalibration()
{
m_ahrs->calibInstructions->setText("Calibration launched...");
m_ahrs->ahrsCalibStart->setEnabled(false);
m_ahrs->ahrsCalibSave->setEnabled(false);
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("TRUE");
obj->updated();
QTimer::singleShot(15000, this, SLOT(calibPhase2()));
QTimer::singleShot(calibrationDelay*1000, this, SLOT(calibPhase2()));
m_ahrs->calibProgress->setRange(0,calibrationDelay);
phaseCounter = 0;
progressBarIndex = 0;
connect(&progressBarTimer, SIGNAL(timeout()), this, SLOT(incrementProgress()));
@ -262,17 +262,17 @@ void ConfigAHRSWidget::calibPhase2()
drawVariancesGraph();
// Now wait 15 more seconds before re-enabling the "Save" button
QTimer::singleShot(15000, this, SLOT(calibPhase2()));
m_ahrs->calibInstructions->setText(QString("Please review the results..."));
QTimer::singleShot(calibrationDelay*1000, this, SLOT(calibPhase2()));
m_ahrs->calibInstructions->setText(QString("Saving the results..."));
progressBarIndex = 0;
phaseCounter++;
}
break;
case 3: // This step re-enables the "Save" button
m_ahrs->calibInstructions->setText(QString("Press \"Save\" if OK."));
case 3: // This step saves the configuration.
saveAHRSCalibration();
m_ahrs->calibInstructions->setText(QString("Calibration saved."));
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->ahrsCalibSave->setEnabled(true);
break;
}
@ -280,7 +280,7 @@ void ConfigAHRSWidget::calibPhase2()
}
/**
Saves the AHRS sensors calibration (to RAM only)
Saves the AHRS sensors calibration (to RAM and SD)
*/
void ConfigAHRSWidget::saveAHRSCalibration()
{
@ -288,6 +288,7 @@ void ConfigAHRSWidget::saveAHRSCalibration()
UAVObjectField *field = obj->getField(QString("measure_var"));
field->setValue("FALSE");
obj->updated();
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
@ -337,6 +338,8 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
UAVObjectField *field = obj->getField(QString("Algorithm"));
m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
drawVariancesGraph();
m_ahrs->ahrsCalibStart->setEnabled(true);
m_ahrs->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
}
@ -345,6 +348,10 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
*/
void ConfigAHRSWidget::ahrsSettingsSaveRAM()
{
UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField *field = obj->getField(QString("Algorithm"));
field->setValue(m_ahrs->algorithm->currentText());
obj->updated();
}
@ -354,5 +361,12 @@ void ConfigAHRSWidget::ahrsSettingsSaveRAM()
*/
void ConfigAHRSWidget::ahrsSettingsSaveSD()
{
ahrsSettingsSaveRAM();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
/**
@}
@}
*/

1
ground/src/plugins/config/configahrswidget.h
View File

@ -64,6 +64,7 @@ private:
int progressBarIndex;
QTimer progressBarTimer;
const static double maxVarValue;
const static int calibrationDelay;
private slots:
void launchAHRSCalibration();