From 1ca53ab02bbb08c552a51af2f714be8c1fa2cf18 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 Aug 2013 13:24:42 +0200 Subject: [PATCH] Re-did sensor calibration, WIP --- files/images/px4/calibration/accel_x+.png | Bin 0 -> 51710 bytes files/images/px4/calibration/accel_x-.png | Bin 0 -> 44570 bytes files/images/px4/calibration/accel_y+.png | Bin 0 -> 49496 bytes files/images/px4/calibration/accel_y-.png | Bin 0 -> 59419 bytes files/images/px4/calibration/accel_z+.png | Bin 0 -> 61063 bytes files/images/px4/calibration/accel_z-.png | Bin 0 -> 53850 bytes files/images/px4/calibration/arrows.png | Bin 0 -> 5968 bytes .../calibration/mag_calibration_figure8.png | Bin 0 -> 109177 bytes qgroundcontrol.pro | 9 +- qgroundcontrol.qrc | 8 + src/ui/QGCPX4VehicleConfig.cc | 45 +----- src/ui/QGCPX4VehicleConfig.h | 2 + src/ui/QGCPX4VehicleConfig.ui | 44 +----- .../QGCPX4SensorCalibration.cc | 99 ++++++++++++ .../QGCPX4SensorCalibration.h | 54 +++++++ .../QGCPX4SensorCalibration.ui | 143 ++++++++++++++++++ 16 files changed, 324 insertions(+), 80 deletions(-) create mode 100644 files/images/px4/calibration/accel_x+.png create mode 100644 files/images/px4/calibration/accel_x-.png create mode 100644 files/images/px4/calibration/accel_y+.png create mode 100644 files/images/px4/calibration/accel_y-.png create mode 100644 files/images/px4/calibration/accel_z+.png create mode 100644 files/images/px4/calibration/accel_z-.png create mode 100644 files/images/px4/calibration/arrows.png create mode 100644 files/images/px4/calibration/mag_calibration_figure8.png create mode 100644 src/ui/px4_configuration/QGCPX4SensorCalibration.cc create mode 100644 src/ui/px4_configuration/QGCPX4SensorCalibration.h create mode 100644 src/ui/px4_configuration/QGCPX4SensorCalibration.ui diff --git a/files/images/px4/calibration/accel_x+.png b/files/images/px4/calibration/accel_x+.png new file mode 100644 index 0000000000000000000000000000000000000000..86c5e44e84473111982acf5cd74e319850755e3f GIT 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ztpp7Z??;k-bPHelgp$_g`4+|@T4@TUa^t^EvAoHz@}5vK5a>S!H!k^4UaSRfDWbK9 zP$Zj2(Y*nHTfC7HF4OK6RR12Bb1%YDG)^2OOdEp80r5u(NevFIZgF9FQE`vj13rr7 zWy{Nd5*qKucc1J&Axdi?{GXp+^-zxjzRdn+6@^*;-yN-K*{G%kwhhVQ)$a=*!ibI_ zuju`{|14bW`%&dA4GfClEGu+9)cXg5!(RqbDZZ4aqf7aFK>vOF|NHO%TY>+7E8s0Z bvPku7{K6-fhiro6pQs$tP)Iv?+UNfONQiFt literal 0 HcmV?d00001 diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index e70764a34..0240dec9f 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -292,7 +292,8 @@ FORMS += src/ui/MainWindow.ui \ src/ui/configuration/SerialSettingsDialog.ui \ src/ui/configuration/ApmFirmwareConfig.ui \ src/ui/px4_configuration/QGCPX4AirframeConfig.ui \ - src/ui/px4_configuration/QGCPX4MulticopterConfig.ui + src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \ + src/ui/px4_configuration/QGCPX4SensorCalibration.ui INCLUDEPATH += src \ src/ui \ @@ -496,7 +497,8 @@ HEADERS += src/MG.h \ src/ui/QGCPendingParamWidget.h \ src/ui/px4_configuration/QGCPX4AirframeConfig.h \ src/ui/QGCBaseParamWidget.h \ - src/ui/px4_configuration/QGCPX4MulticopterConfig.h + src/ui/px4_configuration/QGCPX4MulticopterConfig.h \ + src/ui/px4_configuration/QGCPX4SensorCalibration.h # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h @@ -717,7 +719,8 @@ SOURCES += src/main.cc \ src/ui/QGCPendingParamWidget.cc \ src/ui/px4_configuration/QGCPX4AirframeConfig.cc \ src/ui/QGCBaseParamWidget.cc \ - src/ui/px4_configuration/QGCPX4MulticopterConfig.cc + src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \ + src/ui/px4_configuration/QGCPX4SensorCalibration.cc # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 8137b7cc7..d19abb700 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -167,6 +167,14 @@ files/images/px4/airframes/plane_ert.png files/images/px4/airframes/plane_aert.png files/images/px4/airframes/quad_h.png + files/images/px4/calibration/arrows.png + files/images/px4/calibration/accel_x+.png + files/images/px4/calibration/accel_x-.png + files/images/px4/calibration/accel_y-.png + files/images/px4/calibration/accel_z+.png + files/images/px4/calibration/accel_z-.png + files/images/px4/calibration/accel_y+.png + files/images/px4/calibration/mag_calibration_figure8.png files/styles/Vera.ttf diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc index d08fdf958..81f850c24 100644 --- a/src/ui/QGCPX4VehicleConfig.cc +++ b/src/ui/QGCPX4VehicleConfig.cc @@ -21,6 +21,7 @@ #include "UASParameterCommsMgr.h" #include "ui_QGCPX4VehicleConfig.h" #include "px4_configuration/QGCPX4AirframeConfig.h" +#include "px4_configuration/QGCPX4SensorCalibration.h" #include #define WIDGET_INDEX_FIRMWARE 0 @@ -54,6 +55,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) : calibrationEnabled(false), configEnabled(false), px4AirframeConfig(NULL), + px4SensorCalibration(NULL), #ifdef QUPGRADE_SUPPORT firmwareDialog(NULL), #endif @@ -90,6 +92,9 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) : px4AirframeConfig = new QGCPX4AirframeConfig(this); ui->airframeLayout->addWidget(px4AirframeConfig); + px4SensorCalibration = new QGCPX4SensorCalibration(this); + ui->sensorLayout->addWidget(px4SensorCalibration); + #ifdef QUPGRADE_SUPPORT firmwareDialog = new DialogBare(this); ui->firmwareLayout->addWidget(firmwareDialog); @@ -635,44 +640,6 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary) } } } - - - // Load general calibration for autopilot - //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries? - tool = new QGCToolWidget("", ui->sensorContents); - tool->addUAS(mav); - if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false)) - { - toolWidgets.append(tool); - QGroupBox *box = new QGroupBox(ui->sensorContents); - box->setTitle(tool->objectName()); - box->setLayout(new QVBoxLayout(box)); - box->layout()->addWidget(tool); - ui->sensorLayout->addWidget(box); - } else { - delete tool; - } - - // Load vehicle-specific autopilot configuration - tool = new QGCToolWidget("", ui->sensorContents); - tool->addUAS(mav); - if (tool->loadSettings(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false)) - { - toolWidgets.append(tool); - QGroupBox *box = new QGroupBox(ui->sensorContents); - box->setTitle(tool->objectName()); - box->setLayout(new QVBoxLayout(box)); - box->layout()->addWidget(tool); - ui->sensorLayout->addWidget(box); - } else { - delete tool; - } - -// //description.txt -// QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt"); -// sensortipsfile.open(QIODevice::ReadOnly); -//// ui->sensorTips->setHtml(sensortipsfile.readAll()); -// sensortipsfile.close(); } void QGCPX4VehicleConfig::menuButtonClicked() { @@ -1056,7 +1023,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active) foreach(QWidget* child, ui->advanceColumnContents->findChildren()) { child->deleteLater(); } - foreach(QWidget* child, ui->sensorContents->findChildren()) { + foreach(QWidget* child, ui->sensorLayout->findChildren()) { child->deleteLater(); } diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h index b5f7e6953..1be13079c 100644 --- a/src/ui/QGCPX4VehicleConfig.h +++ b/src/ui/QGCPX4VehicleConfig.h @@ -15,6 +15,7 @@ class UASParameterCommsMgr; class DialogBare; +class QGCPX4SensorCalibration; namespace Ui { class QGCPX4VehicleConfig; @@ -322,6 +323,7 @@ protected: QGCPX4AirframeConfig* px4AirframeConfig; DialogBare* firmwareDialog; + QGCPX4SensorCalibration* px4SensorCalibration; QMessageBox msgBox; QPushButton* skipActionButton; diff --git a/src/ui/QGCPX4VehicleConfig.ui b/src/ui/QGCPX4VehicleConfig.ui index 608402afc..458e0046e 100644 --- a/src/ui/QGCPX4VehicleConfig.ui +++ b/src/ui/QGCPX4VehicleConfig.ui @@ -154,7 +154,7 @@ Config - 5 + 2 @@ -918,33 +918,7 @@ Config true - - - - - - - - true - - - - - 0 - 0 - 39 - 26 - - - - - - - - - - - + @@ -1020,8 +994,8 @@ Config 0 0 - 16 - 16 + 98 + 28 @@ -1057,8 +1031,8 @@ Config 0 0 - 16 - 16 + 98 + 28 @@ -1272,12 +1246,6 @@ Config

ui/QGCPendingParamWidget.h
1 - - QGCMessageView - QWidget -
QGCMessageView.h
- 1 -
QGCParamWidget QWidget diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc new file mode 100644 index 000000000..a979a575a --- /dev/null +++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc @@ -0,0 +1,99 @@ +#include "QGCPX4SensorCalibration.h" +#include "ui_QGCPX4SensorCalibration.h" +#include +#include +#include + +QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) : + QWidget(parent), + activeUAS(NULL), + clearAction(new QAction(tr("Clear Text"), this)), + ui(new Ui::QGCPX4SensorCalibration) +{ + ui->setupUi(this); + connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear())); + + setInstructionImage("./files/images/px4/calibration/accel_z-.png"); + + setObjectName("PX4_SENSOR_CALIBRATION"); + + setStyleSheet("QScrollArea { border: 0px; } QPlainTextEdit { border: 0px }"); + + setActiveUAS(UASManager::instance()->getActiveUAS()); + connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); +} + +QGCPX4SensorCalibration::~QGCPX4SensorCalibration() +{ + delete ui; +} + +void QGCPX4SensorCalibration::setInstructionImage(const QString &path) +{ + instructionIcon.load(path); + + int w = ui->iconLabel->width(); + int h = ui->iconLabel->height(); + + ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio)); +} + +void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event) +{ + + int w = ui->iconLabel->width(); + int h = ui->iconLabel->height(); + + ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio)); + + QWidget::resizeEvent(event); +} + +void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas) +{ + if (!uas) + return; + + if (activeUAS) { + disconnect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString))); + ui->textView->clear(); + } + + connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString))); + activeUAS = uas; +} + +void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int severity, QString text) +{ + // XXX color messages according to severity + + QPlainTextEdit *msgWidget = ui->textView; + + //turn off updates while we're appending content to avoid breaking the autoscroll behavior + msgWidget->setUpdatesEnabled(false); + QScrollBar *scroller = msgWidget->verticalScrollBar(); + + UASInterface *uas = UASManager::instance()->getUASForId(uasid); + QString uasName(uas->getUASName()); + QString colorName(uas->getColor().name()); + //change styling based on severity + if (160 == severity ) { //TODO where is the constant for "critical" severity? + //GAudioOutput::instance()->say(text.toLower()); + msgWidget->appendHtml(QString("

[%1:%2] %3

").arg(uasName).arg(compId).arg(text)); + } + else { + msgWidget->appendHtml(QString("

[%2:%3] %4

").arg(colorName).arg(uasName).arg(compId).arg(text)); + } + + // Ensure text area scrolls correctly + scroller->setValue(scroller->maximum()); + msgWidget->setUpdatesEnabled(true); + +} + +void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event) +{ + QMenu menu(this); + menu.addAction(clearAction); + menu.exec(event->globalPos()); +} diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.h b/src/ui/px4_configuration/QGCPX4SensorCalibration.h new file mode 100644 index 000000000..48d0093f5 --- /dev/null +++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.h @@ -0,0 +1,54 @@ +#ifndef QGCPX4SENSORCALIBRATION_H +#define QGCPX4SENSORCALIBRATION_H + +#include +#include +#include + +namespace Ui { +class QGCPX4SensorCalibration; +} + +class QGCPX4SensorCalibration : public QWidget +{ + Q_OBJECT + +public: + explicit QGCPX4SensorCalibration(QWidget *parent = 0); + ~QGCPX4SensorCalibration(); + +public slots: + /** + * @brief Set currently active UAS + * @param uas the current active UAS + */ + void setActiveUAS(UASInterface* uas); + /** + * @brief Handle text message from current active UAS + * @param uasid + * @param componentid + * @param severity + * @param text + */ + void handleTextMessage(int uasid, int componentid, int severity, QString text); + + /** + * @brief Hand context menu event + * @param event + */ + virtual void contextMenuEvent(QContextMenuEvent* event); + + void setInstructionImage(const QString &path); + +protected: + UASInterface* activeUAS; + QAction* clearAction; + QPixmap instructionIcon; + + virtual void resizeEvent(QResizeEvent* event); + +private: + Ui::QGCPX4SensorCalibration *ui; +}; + +#endif // QGCPX4SENSORCALIBRATION_H diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.ui b/src/ui/px4_configuration/QGCPX4SensorCalibration.ui new file mode 100644 index 000000000..eaca16b7c --- /dev/null +++ b/src/ui/px4_configuration/QGCPX4SensorCalibration.ui @@ -0,0 +1,143 @@ + + + QGCPX4SensorCalibration + + + + 0 + 0 + 531 + 448 + + + + Form + + + QPushButton#magButton { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154); + border-radius: 8px; + min-height: 25px; + max-height: 30px; + min-width: 60px; + max-width: 140px; + margin: 5px; + border: 2px solid #465158; +} + +QPushButton#gyroButton, QPushButton#accelButton { + background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #D3795D, stop: 1 #A81154); + border-radius: 8px; + min-height: 25px; + max-height: 30px; + min-width: 60px; + max-width: 140px; + margin: 5px; + border: 2px solid #465158; +} + + + + + + Magnetometer Calibration + + + + + + + + + + + + + true + + + + + + + To calibrate the system, execute the three calibration steps below. + + + + + + + Qt::Vertical + + + + 498 + 21 + + + + + + + + 24 + + + + + + + + + Magnetometer + + + + :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png + + + + + + + Gyroscope + + + + :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png + + + + + + + Accelerometer + + + + :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + -- 2.22.0