rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

Separately store initial meta data for accel and mag

Browse Source
This commit is contained in:
James Cotton 2012-06-13 18:09:10 -05:00
parent fc6f0f5d4d
commit f07e1fc4e1
2 changed files with 15 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -267,11 +267,11 @@ void ConfigRevoWidget::launchAccelBiasCalibration()
accel_accum_y.clear();
accel_accum_z.clear();
/* Need to get as many AttitudeRaw updates as possible */
/* Need to get as many accel updates as possible */
Accels * accels = Accels::GetInstance(getObjectManager());
Q_ASSERT(accels);
initialMdata = accels->getMetadata();
UAVObject::Metadata mdata = initialMdata;
initialAccelsMdata = accels->getMetadata();
UAVObject::Metadata mdata = initialAccelsMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
accels->setMetadata(mdata);
@ -318,7 +318,7 @@ void ConfigRevoWidget::doGetAccelBiasData(UAVObject *obj)
revoCalibration->setData(revoCalibrationData);
revoCalibration->updated();
accels->setMetadata(initialMdata);
accels->setMetadata(initialAccelsMdata);
}
}
@ -358,7 +358,6 @@ void ConfigRevoWidget::sensorsUpdated(UAVObject * obj)
accel_accum_z.append(accelsData.z);
#endif
} else if( obj->getObjID() == Magnetometer::OBJID ) {
qDebug() << "Mag";
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
Magnetometer::DataFields magData = mag->getData();
@ -421,8 +420,8 @@ void ConfigRevoWidget::sensorsUpdated(UAVObject * obj)
m_ui->sixPointsSave->setEnabled(false);
/* Cleanup original settings */
accels->setMetadata(initialMdata);
mag->setMetadata(initialMdata);
accels->setMetadata(initialAccelsMdata);
mag->setMetadata(initialMagMdata);
}
}
}
@ -667,13 +666,14 @@ void ConfigRevoWidget::sixPointCalibrationMode()
Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
Q_ASSERT(mag);
initialMdata = accels->getMetadata();
UAVObject::Metadata mdata = initialMdata;
initialAccelsMdata = accels->getMetadata();
UAVObject::Metadata mdata = initialAccelsMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
accels->setMetadata(mdata);
mdata = mag->getMetadata();
initialMagMdata = mag->getMetadata();
mdata = initialMagMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
mag->setMetadata(mdata);

6
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -90,7 +90,11 @@ private:
double accel_data_x[6], accel_data_y[6], accel_data_z[6];
double mag_data_x[6], mag_data_y[6], mag_data_z[6];
UAVObject::Metadata initialMdata;
UAVObject::Metadata initialAccelsMdata;
UAVObject::Metadata initialGyrosMdata;
UAVObject::Metadata initialMagMdata;
UAVObject::Metadata initialBaroMdata;
int position;
private slots: