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https://bitbucket.org/librepilot/librepilot.git
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9205400cf0
Removed the option to configure the board without having it connected. Added Tri, QuadX and QuadP configuration code. Updated some of the texts.
123 lines
3.9 KiB
C++
123 lines
3.9 KiB
C++
/**
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******************************************************************************
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*
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* @file levellingpage.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup
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* @{
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* @addtogroup LevellingPage
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* @{
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* @brief
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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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#include <QMessageBox>
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#include "levellingpage.h"
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#include "ui_levellingpage.h"
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#include "setupwizard.h"
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LevellingPage::LevellingPage(SetupWizard *wizard, QWidget *parent) :
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AbstractWizardPage(wizard, parent),
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ui(new Ui::LevellingPage), m_levellingUtil(0)
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{
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ui->setupUi(this);
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connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performLevelling()));
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}
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LevellingPage::~LevellingPage()
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{
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if(m_levellingUtil) {
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delete m_levellingUtil;
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}
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delete ui;
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}
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bool LevellingPage::validatePage()
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{
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return true;
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}
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bool LevellingPage::isComplete() const
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{
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return const_cast<LevellingPage *>(this)->getWizard()->isLevellingPerformed() &&
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ui->levelButton->isEnabled();
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}
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void LevellingPage::performLevelling()
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{
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if(!getWizard()->getConnectionManager()->isConnected()) {
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QMessageBox msgBox;
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msgBox.setText(tr("An OpenPilot controller must be connected to your computer to perform bias "
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"calculations.\nPlease connect your OpenPilot controller to continue."));
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msgBox.setStandardButtons(QMessageBox::Ok);
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msgBox.setDefaultButton(QMessageBox::Ok);
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msgBox.exec();
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return;
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}
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if(!m_levellingUtil)
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{
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// Measure every 100ms * 100times = 10s
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m_levellingUtil = new LevellingUtil(BIAS_CYCLES, BIAS_PERIOD);
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}
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connect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
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connect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
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connect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
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ui->levelButton->setEnabled(false);
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emit completeChanged();
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m_levellingUtil->start();
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}
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void LevellingPage::levellingProgress(long current, long total)
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{
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if(ui->levellinProgressBar->maximum() != (int)total) {
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ui->levellinProgressBar->setMaximum((int)total);
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}
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if(ui->levellinProgressBar->value() != (int)current) {
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ui->levellinProgressBar->setValue((int)current);
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}
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}
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void LevellingPage::levellingDone(accelGyroBias bias)
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{
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stopLevelling();
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getWizard()->setLevellingBias(bias);
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emit completeChanged();
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}
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void LevellingPage::levellingTimeout(QString message)
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{
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stopLevelling();
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QMessageBox msgBox;
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msgBox.setText(message);
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msgBox.setStandardButtons(QMessageBox::Ok);
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msgBox.setDefaultButton(QMessageBox::Ok);
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msgBox.exec();
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}
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void LevellingPage::stopLevelling()
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{
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if(m_levellingUtil)
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{
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disconnect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
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disconnect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
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disconnect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
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ui->levelButton->setEnabled(true);
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}
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}
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