ground/openpilotgcs/src/plugins/config/configccattitudewidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configccattitudewidget.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup ConfigPlugin Config Plugin
   9  * @{
  10  * @brief Configure the properties of the attitude module in CopterControl
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27 #ifndef CCATTITUDEWIDGET_H
  28 #define CCATTITUDEWIDGET_H
  29
  30 #include "ui_ccattitude.h"
  31 #include "../uavobjectwidgetutils/configtaskwidget.h"
  32 #include "extensionsystem/pluginmanager.h"
  33 #include "uavobjectmanager.h"
  34 #include "uavobject.h"
  35 #include <QWidget>
  36 #include <QTimer>
  37
  38 class Ui_Widget;
  39
  40 class ConfigCCAttitudeWidget : public ConfigTaskWidget {
  41     Q_OBJECT
  42
  43 public:
  44     explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
  45     ~ConfigCCAttitudeWidget();
  46
  47     virtual void updateObjectsFromWidgets();
  48
  49 private slots:
  50     void sensorsUpdated(UAVObject *obj);
  51     void timeout();
  52     void startAccelCalibration();
  53     void openHelp();
  54     void setAccelFiltering(bool active);
  55
  56 private:
  57     Ui_ccattitude *ui;
  58     QTimer timer;
  59     UAVObject::Metadata initialAccelStateMdata;
  60     UAVObject::Metadata initialGyroStateMdata;
  61
  62     int accelUpdates;
  63     int gyroUpdates;
  64
  65     QList<double> x_accum, y_accum, z_accum;
  66     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
  67
  68     static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
  69     static const int NUM_SENSOR_UPDATES = 300;
  70 protected:
  71     virtual void enableControls(bool enable);
  72 };
  73
  74 #endif // CCATTITUDEWIDGET_H