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Calibration fixes

QGC4.4
Anton Babushkin 12 years ago
parent
5f37d6c999
commit
854b9cbdce
6 changed files with 42 additions and 104 deletions
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  1. BIN
      files/images/px4/calibration/3dr_gps/gps_05.png
  2. BIN
      files/images/px4/calibration/3dr_gps/gps_06.png
  3. BIN
      files/images/px4/calibration/3dr_gps/gps_07.png
  4. 2
      qgroundcontrol.qrc
  5. 139
      src/ui/px4_configuration/QGCPX4SensorCalibration.cc
  6. 5
      src/ui/px4_configuration/QGCPX4SensorCalibration.h

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files/images/px4/calibration/3dr_gps/gps_05.png
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files/images/px4/calibration/3dr_gps/gps_06.png
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2
qgroundcontrol.qrc
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@ -190,8 +190,8 @@ @@ -190,8 +190,8 @@
<file>files/images/px4/calibration/3dr_gps/gps_18.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_17.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_16.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_07.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_06.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_05.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_04.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_03.png</file>
<file>files/images/px4/calibration/3dr_gps/gps_02.png</file>

139
src/ui/px4_configuration/QGCPX4SensorCalibration.cc
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@ -9,19 +9,8 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) : @@ -9,19 +9,8 @@ QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) :
QWidget(parent),
activeUAS(NULL),
clearAction(new QAction(tr("Clear Text"), this)),
accelStarted(false),
gyroStarted(false),
magStarted(false),
ui(new Ui::QGCPX4SensorCalibration)
{
accelAxes << "x+";
accelAxes << "x-";
accelAxes << "y+";
accelAxes << "y-";
accelAxes << "z+";
accelAxes << "z-";
ui->setupUi(this);
connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear()));
@ -333,10 +322,8 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever @@ -333,10 +322,8 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
text.startsWith("[mavlink pm]"))
return;
if (text.contains("progress")) {
qDebug() << "PROGRESS:" << text;
if (text.contains("progress <")) {
QString percent = text.split("<").last().split(">").first();
qDebug() << "PERCENT CANDIDATE" << percent;
bool ok;
int p = percent.toInt(&ok);
if (ok)
@ -346,97 +333,64 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever @@ -346,97 +333,64 @@ void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int sever
ui->instructionLabel->setText(QString("%1").arg(text));
if (text.contains("accel")) {
qDebug() << "ACCEL" << text;
if (text.startsWith("accel measurement started: ")) {
QString axis = text.split("measurement started: ").last().left(2);
qDebug() << "AXIS" << axis << "STR" << text;
setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
}
}
if (text.startsWith("directions left")) {
for (int i = 0; i < 6; i++)
{
if (!text.contains(accelAxes[i])) {
qDebug() << "FINISHED" << accelAxes[i];
accelDone[i] = true;
}
}
if (text.startsWith("accel measurement started: ")) {
QString axis = text.split("measurement started: ").last().left(2);
setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
}
if (text.startsWith("result for")) {
QString axis = text.split("result for ").last().left(2);
qDebug() << "ACCELDONE AXIS" << axis << "STR" << text;
for (int i = 0; i < 6; i++)
{
if (axis == accelAxes[i])
accelDone[i] = true;
if (!accelDone[i]) {
qDebug() << "NEW AXIS: " << accelAxes[i];
setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(accelAxes[i]));
ui->instructionLabel->setText(tr("Axis %1 completed. Please rotate like shown here.").arg(axis));
break;
}
}
if (text.startsWith("directions left: ")) {
QString axis = text.split("directions left: ").last().left(2);
setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis));
}
if (text.contains("please rotate in a figure 8")) {
if (text == "rotate in a figure 8") {
setInstructionImage(":/files/images/px4/calibration/mag_calibration_figure8.png");
}
if (text.contains("accel calibration done")) {
accelStarted = false;
if (text.endsWith(" calibration: done") || text.endsWith(" calibration: failed")) {
// XXX use a confirmation image or something
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
if (activeUAS) {
activeUAS->requestParameter(0, "SENS_ACC_XOFF");
activeUAS->requestParameter(0, "SENS_BOARD_ROT");
if (text.endsWith(" calibration: done")) {
ui->progressBar->setValue(100);
} else {
ui->progressBar->setValue(0);
}
}
if (text.contains("gyro calibration done")) {
gyroStarted = false;
// XXX use a confirmation image or something
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
if (activeUAS)
activeUAS->requestParameter(0, "SENS_GYRO_XOFF");
}
if (text.contains("mag calibration done")
|| text.contains("magnetometer calibration completed")) {
magStarted = false;
// XXX use a confirmation image or something
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
if (activeUAS) {
activeUAS->requestParameter(0, "SENS_MAG_XOFF");
activeUAS->requestParameter(0, "SENS_EXT_MAG_ROT");
if (text.startsWith("accel ")) {
activeUAS->requestParameter(0, "SENS_ACC_XOFF");
activeUAS->requestParameter(0, "SENS_ACC_YOFF");
activeUAS->requestParameter(0, "SENS_ACC_ZOFF");
activeUAS->requestParameter(0, "SENS_ACC_XSCALE");
activeUAS->requestParameter(0, "SENS_ACC_YSCALE");
activeUAS->requestParameter(0, "SENS_ACC_ZSCALE");
activeUAS->requestParameter(0, "SENS_BOARD_ROT");
}
if (text.startsWith("gyro ")) {
activeUAS->requestParameter(0, "SENS_GYRO_XOFF");
activeUAS->requestParameter(0, "SENS_GYRO_YOFF");
activeUAS->requestParameter(0, "SENS_GYRO_ZOFF");
activeUAS->requestParameter(0, "SENS_GYRO_XSCALE");
activeUAS->requestParameter(0, "SENS_GYRO_YSCALE");
activeUAS->requestParameter(0, "SENS_GYRO_ZSCALE");
activeUAS->requestParameter(0, "SENS_BOARD_ROT");
}
if (text.startsWith("mag ")) {
activeUAS->requestParameter(0, "SENS_MAG_XOFF");
activeUAS->requestParameter(0, "SENS_MAG_YOFF");
activeUAS->requestParameter(0, "SENS_MAG_ZOFF");
activeUAS->requestParameter(0, "SENS_MAG_XSCALE");
activeUAS->requestParameter(0, "SENS_MAG_YSCALE");
activeUAS->requestParameter(0, "SENS_MAG_ZSCALE");
activeUAS->requestParameter(0, "SENS_EXT_MAG_ROT");
}
}
}
if (text.contains("accel calibration started")) {
accelStarted = true;
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
}
if (text.contains("gyro calibration started")) {
gyroStarted = true;
if (text.endsWith(" calibration: started")) {
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
}
if (text.contains("mag calibration started")) {
magStarted = false;
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
}
// XXX color messages according to severity
QPlainTextEdit *msgWidget = ui->textView;
@ -457,7 +411,6 @@ void QGCPX4SensorCalibration::gyroButtonClicked() @@ -457,7 +411,6 @@ void QGCPX4SensorCalibration::gyroButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
ui->instructionLabel->setText(tr("Please do not move the system at all."));
}
void QGCPX4SensorCalibration::magButtonClicked()
@ -465,7 +418,6 @@ void QGCPX4SensorCalibration::magButtonClicked() @@ -465,7 +418,6 @@ void QGCPX4SensorCalibration::magButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
ui->instructionLabel->setText(tr("Please put the system in a rest position."));
}
void QGCPX4SensorCalibration::accelButtonClicked()
@ -473,15 +425,6 @@ void QGCPX4SensorCalibration::accelButtonClicked() @@ -473,15 +425,6 @@ void QGCPX4SensorCalibration::accelButtonClicked()
setInstructionImage(":/files/images/px4/calibration/accel_z-.png");
activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0);
ui->progressBar->setValue(0);
accelStarted = true;
accelDone[0] = false;
accelDone[1] = false;
accelDone[2] = false;
accelDone[3] = false;
accelDone[4] = false;
accelDone[5] = false;
ui->instructionLabel->setText(tr("Please hold the system very still in the shown orientations."));
}
void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event)

5
src/ui/px4_configuration/QGCPX4SensorCalibration.h
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@ -64,11 +64,6 @@ protected: @@ -64,11 +64,6 @@ protected:
QPixmap instructionIcon;
QPixmap autopilotIcon;
QPixmap gpsIcon;
bool accelStarted;
bool accelDone[6];
bool gyroStarted;
bool magStarted;
QStringList accelAxes;
virtual void resizeEvent(QResizeEvent* event);

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