ground/gcs/src/plugins/config/configrevowidget.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configahrstwidget.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 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 #ifndef CONFIGREVOWIDGET_H
  28 #define CONFIGREVOWIDGET_H
  29
  30 #include "configtaskwidget.h"
  31 #include "extensionsystem/pluginmanager.h"
  32 #include "uavobjectmanager.h"
  33 #include "uavobject.h"
  34
  35 #include "calibration/thermal/thermalcalibrationmodel.h"
  36 #include "calibration/sixpointcalibrationmodel.h"
  37 #include "calibration/levelcalibrationmodel.h"
  38 #include "calibration/gyrobiascalibrationmodel.h"
  39
  40 class Ui_RevoSensorsWidget;
  41
  42 class QWidget;
  43
  44 class ConfigRevoWidget : public ConfigTaskWidget {
  45     Q_OBJECT
  46
  47 public:
  48     ConfigRevoWidget(QWidget *parent = 0);
  49     ~ConfigRevoWidget();
  50
  51 private:
  52     OpenPilot::SixPointCalibrationModel *m_accelCalibrationModel;
  53     OpenPilot::SixPointCalibrationModel *m_magCalibrationModel;
  54     OpenPilot::LevelCalibrationModel *m_levelCalibrationModel;
  55     OpenPilot::GyroBiasCalibrationModel *m_gyroBiasCalibrationModel;
  56     OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel;
  57
  58     Ui_RevoSensorsWidget *m_ui;
  59
  60     // Board rotation store/recall for FC and for aux mag
  61     qint16 storedBoardRotation[3];
  62     qint16 auxMagStoredBoardRotation[3];
  63     bool isBoardRotationStored;
  64
  65     bool displayMagError;
  66
  67     float onboardMagFiltered[3];
  68     float auxMagFiltered[3];
  69     float magBe[3];
  70
  71     int magWarningCount;
  72     int magErrorCount;
  73     int auxMagWarningCount;
  74     int auxMagErrorCount;
  75
  76 private slots:
  77     void storeAndClearBoardRotation();
  78     void recallBoardRotation();
  79     void displayVisualHelp(QString elementID);
  80     void clearInstructions();
  81     void addInstructions(QString text, WizardModel::MessageType type = WizardModel::Info);
  82     void displayTemperature(float tempareture);
  83     void displayTemperatureGradient(float temparetureGradient);
  84     void displayTemperatureRange(float temparetureRange);
  85
  86     // ! Overriden method from the configTaskWidget to update UI
  87     virtual void refreshWidgetsValues(UAVObject *object = NULL);
  88     virtual void updateObjectsFromWidgets();
  89
  90     // Slot for clearing home location
  91     void clearHomeLocation();
  92
  93     void disableAllCalibrations();
  94     void enableAllCalibrations();
  95
  96     void onBoardAuxMagError();
  97     void updateMagStatus();
  98     void updateMagBeVector();
  99     void updateMagAlarm(float errorMag, float errorAuxMag);
 100
 101     float getMagError(float mag[3]);
 102
 103     void updateVisualHelp();
 104     void openHelp();
 105
 106 protected:
 107     void showEvent(QShowEvent *event);
 108     void resizeEvent(QResizeEvent *event);
 109 };
 110
 111 #endif // ConfigRevoWidget_H