The Calibration class is a UI free algorithm that can be connected to any interfaces. As such it only communicates with the UI via signals and slots, but has no direct handles to any particular controls or widgets. More...

#include <calibration.h>

Inheritance diagram for Calibration:

Public Slots
void	doStartBiasAndLeveling ()
	Start collecting data while vehicle is level. More...

void	doStartNoBiasLeveling ()
	Start collecting data while vehicle is level. More...

void	doStartOrientation ()
	Start collecting data while vehicle is in pure pitch. More...

void	doStartSixPoint ()
	Start the six point calibration routine. More...

void	doCancelSixPoint ()
	Cancels the six point calibration routine. More...

void	doSaveSixPointPosition ()
	Indicates UAV is in a position to collect data during 6pt calibration. More...

void	doStartTempCal ()
	Start collecting gyro temp calibration data. More...

void	doAcceptTempCal ()
	Accept gyro temp calibration data. More...

void	doCancelTempCalPoint ()
	Cancels the temperature calibration routine. More...

void	configureTempCurves (TempCompCurve x, TempCompCurve y, TempCompCurve *z)
	Set up the curves. More...

void	setTempCalRange (int r)
	Set temperature calibration range. More...

Signals
void	calibrationBusy (bool busy)
	Indicate whether the calibration is busy. More...

void	toggleControls (bool enable)
	Indicate whether to enable or disable controls. More...

void	toggleSavePosition (bool enable)
	Indicate whether to enable or disable controls. More...

void	updatePlane (int position)
	Change the UAV visualization. More...

void	showSixPointMessage (QString message)
	Show an instruction to the user for six point calibration. More...

void	showYawOrientationMessage (QString message)
	Show an instruction to the user for yaw orientation. More...

void	showLevelingMessage (QString message)
	Show an instruction to the user for leveling. More...

void	yawOrientationProgressChanged (int)
	Indicate what the progress is for yaw orientation. More...

void	levelingProgressChanged (int)
	Indicate what the progress is for leveling. More...

void	sixPointProgressChanged (int)
	Indicate what the progress is for six point collection. More...

void	showTempCalMessage (QString message)
	Show an instruction or message from temperature calibration. More...

void	tempCalProgressChanged (int)
	Indicate what the progress is for temperature calibration. More...

void	calibrationCompleted ()
	Indicate that a calibration process has successfully completed and the results saved to UAVO. More...

Public Member Functions
	Calibration ()

	~Calibration ()

void	initialize (bool calibrateAccels, bool calibrateMags)
	Calibration::initialize Configure whether to calibrate the magnetometer and/or accelerometer during 6-point calibration. More...

Protected Types
enum	sensor_type { ACCEL, GYRO, MAG }

Protected Member Functions
void	connectSensor (sensor_type sensor, bool connect)
	Connect and speed up or disconnect a sensor. More...

bool	storeSixPointMeasurement (UAVObject *obj, int position)
	Store a measurement at this position and indicate if it is the last one. More...

bool	storeYawOrientationMeasurement (UAVObject *obj)
	Store yaw orientation sample and compute orientation if finished. More...

bool	storeLevelingMeasurement (UAVObject *obj)
	Store leveling sample and compute level if finished. More...

int	computeScaleBias ()
	Computes the scale and bias for the accelerometer and mag. More...

void	rotate_vector (double R[3][3], const double vec[3], double vec_out[3], bool transpose)
	Rotate a vector by the rotation matrix, optionally trasposing. More...

void	Euler2R (double rpy[3], double Rbe[3][3])
	Compute a rotation matrix from a set of euler angles. More...

void	resetSensorCalibrationToOriginalValues ()
	Reset sensor settings to pre-calibration values. More...

bool	storeTempCalMeasurement (UAVObject *obj)
	Store a sample for temperature compensation. More...

int	computeTempCal ()
	Compute temperature compensation factors. More...

void	updateTempCompCalibrationDisplay ()
	Update the graphs with the temperature compensation. More...

Static Protected Member Functions
static double	listMean (QList< double > list)
	Compute the mean value of a list. More...

SixPointInConstFieldCal
Compute the scale and bias assuming the data comes from six orientations in a constant field x, y, z are vectors of six measurements Computes sensitivity and offset such that: c = S * A + b where c is the measurement, S is the sensitivity, b is the bias offset, and A is the field being measured expressed as a ratio of the measured value to the field strength. aka a direction cosine. A is what we really want and it is computed using the equation: A = (c - b)/S
int	SixPointInConstFieldCal (double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3])

Detailed Description

The Calibration class is a UI free algorithm that can be connected to any interfaces. As such it only communicates with the UI via signals and slots, but has no direct handles to any particular controls or widgets.

It performs a number of calibration routines, including six-point calibration for accelerometers and magnetometers, temperature compensation for gyros, calculating the rotation to level the accelerometers, and calculating the board orientation.

Definition at line 46 of file calibration.h.

Member Enumeration Documentation

enum Calibration::sensor_type

protected

Enumerator
ACCEL
GYRO
MAG

Definition at line 226 of file calibration.h.

Member Function Documentation

void Calibration::calibrationBusy ( bool busy )

signal

Indicate whether the calibration is busy.

void Calibration::calibrationCompleted ( )

signal

Indicate that a calibration process has successfully completed and the results saved to UAVO.

void Calibration::levelingProgressChanged ( int )

signal

Indicate what the progress is for leveling.

static double Calibration::listMean ( QList< double > list )

inlinestaticprotected

Compute the mean value of a list.

Definition at line 253 of file calibration.h.

void Calibration::showLevelingMessage ( QString message )

signal

Show an instruction to the user for leveling.

void Calibration::showSixPointMessage ( QString message )

signal

Show an instruction to the user for six point calibration.

void Calibration::showTempCalMessage ( QString message )

signal

Show an instruction or message from temperature calibration.

void Calibration::showYawOrientationMessage ( QString message )

signal

Show an instruction to the user for yaw orientation.

void Calibration::sixPointProgressChanged ( int )

signal

Indicate what the progress is for six point collection.

void Calibration::tempCalProgressChanged ( int )

signal

Indicate what the progress is for temperature calibration.

void Calibration::toggleControls ( bool enable )

signal

Indicate whether to enable or disable controls.

void Calibration::toggleSavePosition ( bool enable )

signal

Indicate whether to enable or disable controls.

void Calibration::updatePlane ( int position )

signal

Change the UAV visualization.

void Calibration::yawOrientationProgressChanged ( int )

signal

Indicate what the progress is for yaw orientation.

The documentation for this class was generated from the following files:

ground/gcs/src/plugins/config/calibration.h
ground/gcs/src/plugins/config/calibration.cpp

Public Slots

Signals

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

SixPointInConstFieldCal

Detailed Description

Member Enumeration Documentation

Member Function Documentation