mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-08 19:46:06 +01:00
74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @file configccattitudewidget.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @addtogroup GCSPlugins GCS Plugins
|
|
* @{
|
|
* @addtogroup ConfigPlugin Config Plugin
|
|
* @{
|
|
* @brief Configure the properties of the attitude module in CopterControl
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
#ifndef CCATTITUDEWIDGET_H
|
|
#define CCATTITUDEWIDGET_H
|
|
|
|
#include "ui_ccattitude.h"
|
|
#include "configtaskwidget.h"
|
|
#include "extensionsystem/pluginmanager.h"
|
|
#include "uavobjectmanager.h"
|
|
#include "uavobject.h"
|
|
#include <QtGui/QWidget>
|
|
#include <QTimer>
|
|
#include <QMutex>
|
|
|
|
class Ui_Widget;
|
|
|
|
class ConfigCCAttitudeWidget : public ConfigTaskWidget
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
|
|
~ConfigCCAttitudeWidget();
|
|
|
|
private slots:
|
|
void attitudeRawUpdated(UAVObject * obj);
|
|
void timeout();
|
|
void startAccelCalibration();
|
|
void openHelp();
|
|
|
|
private:
|
|
QMutex startStop;
|
|
Ui_ccattitude *ui;
|
|
QTimer timer;
|
|
UAVObject::Metadata initialMdata;
|
|
|
|
int updates;
|
|
|
|
QList<double> x_accum, y_accum, z_accum;
|
|
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
|
|
|
|
static const int NUM_ACCEL_UPDATES = 60;
|
|
static const float ACCEL_SCALE = 0.004f * 9.81f;
|
|
protected:
|
|
virtual void enableControls(bool enable);
|
|
|
|
};
|
|
|
|
#endif // CCATTITUDEWIDGET_H
|