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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       levelcalibrationmodel.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @addtogroup board level calibration
   7  * @{
   8  * @addtogroup ConfigPlugin Config Plugin
   9  * @{
  10  * @brief Telemetry configuration panel
  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 LEVELCALIBRATIONMODEL_H
  29 #define LEVELCALIBRATIONMODEL_H
  30
  31 #include "wizardmodel.h"
  32 #include "calibration/calibrationutils.h"
  33 #include <attitudestate.h>
  34 #include <attitudesettings.h>
  35
  36 #include <QObject>
  37 #include <QMutex>
  38 #include <QList>
  39
  40 namespace OpenPilot {
  41 class LevelCalibrationModel : public QObject {
  42     Q_OBJECT
  43
  44 public:
  45     explicit LevelCalibrationModel(QObject *parent = 0);
  46
  47     bool dirty()
  48     {
  49         return m_dirty;
  50     }
  51
  52 signals:
  53     void started();
  54     void stopped();
  55     void savePositionEnabledChanged(bool state);
  56     void progressChanged(int value);
  57     void displayVisualHelp(QString elementID);
  58     void displayInstructions(QString text, WizardModel::MessageType type = WizardModel::Info);
  59
  60 public slots:
  61     void start();
  62     void savePosition();
  63     void save();
  64
  65 private slots:
  66     void getSample(UAVObject *obj);
  67
  68 private:
  69     typedef struct {
  70         UAVObject::Metadata attitudeStateMdata;
  71     } Memento;
  72
  73     QMutex sensorsUpdateLock;
  74     int position;
  75
  76     bool collectingData;
  77     bool m_dirty;
  78
  79     Memento memento;
  80
  81     QList<double> rot_accum_roll;
  82     QList<double> rot_accum_pitch;
  83     double rot_data_roll;
  84     double rot_data_pitch;
  85
  86     // convenience pointers
  87     AttitudeState *attitudeState;
  88     AttitudeSettings *attitudeSettings;
  89
  90     UAVObjectManager *getObjectManager();
  91 };
  92 }
  93
  94 #endif // LEVELCALIBRATIONMODEL_H