mirror of
https://bitbucket.org/librepilot/librepilot.git
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154 lines
4.5 KiB
C++
154 lines
4.5 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 CONFIGAHRSWIDGET_H
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#define CONFIGAHRSWIDGET_H
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#include <Eigen/StdVector>
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#include "ui_ahrs.h"
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#include "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 <QtGui/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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#include <Eigen/Core>
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class ConfigAHRSWidget: public ConfigTaskWidget
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{
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Q_OBJECT
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public:
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ConfigAHRSWidget(QWidget *parent = 0);
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~ConfigAHRSWidget();
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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private:
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void drawVariancesGraph();
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void displayPlane(QString elementID);
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Ui_AHRSWidget *m_ahrs;
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QGraphicsSvgItem *paperplane;
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QGraphicsSvgItem *ahrsbargraph;
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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 attitudeRawUpdateLock;
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double maxBarHeight;
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int phaseCounter;
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int progressBarIndex;
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QTimer progressBarTimer;
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const static double maxVarValue;
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const static int calibrationDelay;
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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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// TODO: Store these in std::vectors
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Eigen::Vector3f gyro_data[60];
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Eigen::Vector3f accel_data[60];
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Eigen::Vector3f mag_data[60];
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int position;
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int n_positions;
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UAVObject::Metadata initialMdata;
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void computeGyroDrift();
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// Saved parameters for calibration. In the event of a calibration failure,
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// the old parameters will be restored.
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Eigen::Vector3f saved_gyro_bias;
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Eigen::Vector3f saved_accel_bias;
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Eigen::Vector3f saved_accel_scale;
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Eigen::Vector3f saved_accel_ortho;
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Eigen::Vector3f saved_accel_rotation;
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Eigen::Vector3f saved_mag_scale;
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Eigen::Vector3f saved_mag_bias;
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bool
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updateScaleFactors(UAVObjectField *scale,
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UAVObjectField *bias ,
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UAVObjectField *ortho,
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const Eigen::Matrix3f& updateScale,
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const Eigen::Vector3f& updateBias,
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const Eigen::Vector3f& oldScale,
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const Eigen::Vector3f& oldBias,
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const Eigen::Vector3f& oldOrtho = Eigen::Vector3f::Zero());
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private slots:
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void enableHomeLocSave(UAVObject *obj);
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void launchAHRSCalibration();
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void saveAHRSCalibration();
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void openHelp();
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void launchAccelBiasCalibration();
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void calibPhase2();
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void incrementProgress();
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void ahrsSettingsRequest();
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void ahrsSettingsSaveRAM();
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void ahrsSettingsSaveSD();
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void savePositionData();
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void computeScaleBias();
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void multiPointCalibrationMode();
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// void sixPointCalibrationMode(); // this function no longer exists
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void attitudeRawUpdated(UAVObject * obj);
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void accelBiasattitudeRawUpdated(UAVObject*);
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void driftCalibrationAttitudeRawUpdated(UAVObject*);
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void launchGyroDriftCalibration();
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void resetCalibrationDefaults();
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void cacheCurrentCalibration();
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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 // ConfigAHRSWidget_H
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