mirror of
https://bitbucket.org/librepilot/librepilot.git
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136 lines
4.0 KiB
C++
136 lines
4.0 KiB
C++
/**
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******************************************************************************
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*
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* @file configahrstwidget.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief Telemetry configuration panel
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef CONFIGREVOWIDGET_H
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#define CONFIGREVOWIDGET_H
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#include "ui_revosensors.h"
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#include "configtaskwidget.h"
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#include "../uavobjectwidgetutils/configtaskwidget.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include <QWidget>
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#include <QtSvg/QSvgRenderer>
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#include <QtSvg/QGraphicsSvgItem>
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#include <QList>
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#include <QTimer>
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#include <QMutex>
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class Ui_Widget;
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class ConfigRevoWidget : public ConfigTaskWidget {
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Q_OBJECT
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public:
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ConfigRevoWidget(QWidget *parent = 0);
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~ConfigRevoWidget();
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private:
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void drawVariancesGraph();
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void displayPlane(QString elementID);
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// ! Computes the scale and bias of the mag based on collected data
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void computeScaleBias();
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Ui_RevoSensorsWidget *m_ui;
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QGraphicsSvgItem *paperplane;
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QGraphicsSvgItem *sensorsBargraph;
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QGraphicsSvgItem *accel_x;
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QGraphicsSvgItem *accel_y;
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QGraphicsSvgItem *accel_z;
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QGraphicsSvgItem *gyro_x;
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QGraphicsSvgItem *gyro_y;
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QGraphicsSvgItem *gyro_z;
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QGraphicsSvgItem *mag_x;
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QGraphicsSvgItem *mag_y;
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QGraphicsSvgItem *mag_z;
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QMutex sensorsUpdateLock;
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double maxBarHeight;
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int phaseCounter;
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const static double maxVarValue;
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const static int calibrationDelay = 10;
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bool collectingData;
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QList<double> gyro_accum_x;
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QList<double> gyro_accum_y;
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QList<double> gyro_accum_z;
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QList<double> accel_accum_x;
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QList<double> accel_accum_y;
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QList<double> accel_accum_z;
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QList<double> mag_accum_x;
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QList<double> mag_accum_y;
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QList<double> mag_accum_z;
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double accel_data_x[6], accel_data_y[6], accel_data_z[6];
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double mag_data_x[6], mag_data_y[6], mag_data_z[6];
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UAVObject::Metadata initialAccelStateMdata;
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UAVObject::Metadata initialGyroStateMdata;
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UAVObject::Metadata initialMagStateMdata;
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UAVObject::Metadata initialBaroSensorMdata;
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float initialMagCorrectionRate;
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int position;
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static const int NOISE_SAMPLES = 100;
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// Board rotation store/recall
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qint16 storedBoardRotation[3];
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bool isBoardRotationStored;
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void storeAndClearBoardRotation();
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void recallBoardRotation();
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private slots:
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// ! Overriden method from the configTaskWidget to update UI
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virtual void refreshWidgetsValues(UAVObject *object = NULL);
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// Slots for calibrating the mags
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void doStartSixPointCalibration();
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void doGetSixPointCalibrationMeasurement(UAVObject *obj);
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void savePositionData();
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// Slots for calibrating the accel and gyro
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void doStartAccelGyroBiasCalibration();
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void doGetAccelGyroBiasData(UAVObject *);
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// Slots for measuring the sensor noise
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void doStartNoiseMeasurement();
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void doGetNoiseSample(UAVObject *);
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// Slot for clearing home location
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void clearHomeLocation();
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protected:
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void showEvent(QShowEvent *event);
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void resizeEvent(QResizeEvent *event);
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};
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#endif // ConfigRevoWidget_H
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