ground/gcs/src/plugins/setupwizard/biascalibrationutil.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       biascalibrationutil.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup
   7  * @{
   8  * @addtogroup BiasCalibrationUtil
   9  * @{
  10  * @brief
  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
  28 #ifndef BIASCALIBRATIONUTIL_H
  29 #define BIASCALIBRATIONUTIL_H
  30
  31 #include <QObject>
  32 #include <QTimer>
  33
  34 #include "uavobject.h"
  35 #include "vehicleconfigurationsource.h"
  36
  37 class BiasCalibrationUtil : public QObject {
  38     Q_OBJECT
  39 public:
  40     explicit BiasCalibrationUtil(long measurementCount, long measurementRate);
  41     explicit BiasCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
  42                                  long gyroMeasurementCount, long gyroMeasurementRate);
  43
  44 signals:
  45     void progress(long current, long total);
  46     void done(accelGyroBias measuredBias);
  47     void timeout(QString message);
  48
  49 public slots:
  50     void start();
  51     void abort();
  52
  53 private slots:
  54     void gyroMeasurementsUpdated(UAVObject *obj);
  55     void accelMeasurementsUpdated(UAVObject *obj);
  56     void timeout();
  57
  58 private:
  59     QTimer m_timeoutTimer;
  60
  61     bool m_isMeasuring;
  62     long m_receivedAccelUpdates;
  63     long m_receivedGyroUpdates;
  64
  65     long m_accelMeasurementCount;
  66     long m_gyroMeasurementCount;
  67     long m_accelMeasurementRate;
  68     long m_gyroMeasurementRate;
  69
  70     UAVObject::Metadata m_previousGyroMetaData;
  71     UAVObject::Metadata m_previousAccelMetaData;
  72
  73     double m_accelerometerX;
  74     double m_accelerometerY;
  75     double m_accelerometerZ;
  76     double m_gyroX;
  77     double m_gyroY;
  78     double m_gyroZ;
  79
  80     void stop();
  81     void startMeasurement();
  82     void stopMeasurement();
  83 };
  84
  85 #endif // BIASCALIBRATIONUTIL_H