去掉sbg惯导的磁场校正
This commit is contained in:
tangchao0503
@ -18,39 +18,10 @@
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extern "C"
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extern "C"
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{
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{
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#include <sbgEComLib.h>
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// #include <sbgEComLib.h>
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#include <stdlib.h>
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#include <stdlib.h>
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}
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}
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class sbgMagCibWorkThread:public QThread
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{
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Q_OBJECT
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public:
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sbgMagCibWorkThread();
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int m_iMagCalibStopControl;
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void displayMagCalibResults(SbgEComMagCalibMode mode, const SbgEComMagCalibResults *pMagCalibResults);
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protected:
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void run();
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private:
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// 0:串口打开错误;
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// 1:磁场矫正失败;
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// 2:Unable to get onboard magnetic calibration results;
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// 3:磁场数据无效:invalid;
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// 4:写入磁场数据失败;
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// 5:POOR;
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// 6:GOOD;
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// 7:OPTIMAL;
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int m_iMagCalibState;
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void signalWrap(int state);
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signals:
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void magCalibStateSignal(int);
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};
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class UdpServer:public QObject
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class UdpServer:public QObject
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{
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{
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Q_OBJECT
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Q_OBJECT
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@ -67,8 +38,6 @@ class UdpServer:public QObject
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private:
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private:
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QUdpSocket * m_udpSocket;
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QUdpSocket * m_udpSocket;
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sbgMagCibWorkThread * m_sbgMagCibWorkThread;
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QHostAddress m_clientIpAddress;
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QHostAddress m_clientIpAddress;
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quint16 m_clientPort;
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quint16 m_clientPort;
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@ -92,7 +61,6 @@ public slots:
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void onRecordFinished();
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void onRecordFinished();
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void sendSerialPortStatus(int serialPortStatus);
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void sendSerialPortStatus(int serialPortStatus);
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void sendSbgMagCalibState(int SbgMagCalibState);
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void sendSbgSolutionModeState(int SolutionMode);
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void sendSbgSolutionModeState(int SolutionMode);
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void sendSbgAccuracyState(int Accuracy);
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void sendSbgAccuracyState(int Accuracy);
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@ -8,8 +8,6 @@ UdpServer::UdpServer()
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m_udpSocket->bind(45454, QUdpSocket::ShareAddress);
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m_udpSocket->bind(45454, QUdpSocket::ShareAddress);
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connect(m_udpSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));
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connect(m_udpSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));
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m_sbgMagCibWorkThread = new sbgMagCibWorkThread();
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m_RecordSbgThread=new QThread();
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m_RecordSbgThread=new QThread();
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m_sbgRecorder=new sbgtc::SbgRecorder();
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m_sbgRecorder=new sbgtc::SbgRecorder();
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m_sbgRecorder->moveToThread(m_RecordSbgThread);
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m_sbgRecorder->moveToThread(m_RecordSbgThread);
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@ -52,7 +50,6 @@ UdpServer::UdpServer()
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connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int)),this, SLOT(sendSbgAccuracyState(int)));
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connect(m_sbgRecorder, SIGNAL(sbgAccuracySignal(int)),this, SLOT(sendSbgAccuracyState(int)));
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connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
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connect(m_imager, SIGNAL(ximeaImageStatus(int)),this, SLOT(sendXimeaImageStatus(int)));
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connect(m_sbgMagCibWorkThread, SIGNAL(magCalibStateSignal(int)),this, SLOT(sendSbgMagCalibState(int)));
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connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
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connect(m_copyFile, SIGNAL(copyFileStatus(int)),this, SLOT(sendCopyFileStatus(int)));
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@ -61,7 +58,6 @@ UdpServer::UdpServer()
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m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
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m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
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sendSerialPortStatus(0);
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sendSerialPortStatus(0);
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sendXimeaImageStatus(0);
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sendXimeaImageStatus(0);
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sendSbgMagCalibState(0);
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sendCopyFileStatus(0);
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sendCopyFileStatus(0);
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@ -183,23 +179,7 @@ void UdpServer::processPendingDatagrams()
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}
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}
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case 8:
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case 8:
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{
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{
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std::cout<<"8代表磁场矫正!"<<std::endl;
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;
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if(datagramList[1].toInt()==1)
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{
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//magCalib();
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std::cout<<"8-1: 开始磁场矫正!"<<std::endl;
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m_sbgMagCibWorkThread->start();
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}
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else if(datagramList[1].toInt()==0)
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{
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std::cout<<"8-0: 停止磁场矫正!"<<std::endl;
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m_sbgMagCibWorkThread->m_iMagCalibStopControl=0;
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}
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break;
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}
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}
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case 9:
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case 9:
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{
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{
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@ -285,18 +265,6 @@ void UdpServer::sendSerialPortStatus(int serialPortStatus)
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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}
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void UdpServer::sendSbgMagCalibState(int SbgMagCalibState)
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{
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std::cout<<"UdpServer::sendSbgMagCalibState---------------------:"<< SbgMagCalibState <<std::endl;
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QByteArray datagram2send;
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QString status = "mag," + QString::number(SbgMagCalibState);
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datagram2send.operator =(status.toStdString().c_str());
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m_udpSocket->writeDatagram(datagram2send.data(),datagram2send.size(),m_clientIpAddress, 45455);
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}
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void UdpServer::sendSbgSolutionModeState(int SolutionMode)
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void UdpServer::sendSbgSolutionModeState(int SolutionMode)
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{
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{
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std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
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std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
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@ -349,334 +317,3 @@ void UdpServer::onRecordFinished()
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{
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{
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std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
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std::cout<<"UdpServer::onRecordFinished----------------:影像停止采集"<<std::endl;
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}
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}
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sbgMagCibWorkThread::sbgMagCibWorkThread()
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{
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}
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void sbgMagCibWorkThread::displayMagCalibResults(SbgEComMagCalibMode mode, const SbgEComMagCalibResults *pMagCalibResults)
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{
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//
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// Display the magnetic calibration results
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//
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printf("\n\n======== Magnetic calibration report ========\n");
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//
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// Convert the quality indicator to human readable output
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//
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switch (pMagCalibResults->quality)
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{
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case SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL:
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{
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printf("Quality:\t\toptimal\n");
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signalWrap(7);
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break;
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}
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case SBG_ECOM_MAG_CALIB_QUAL_GOOD:
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{
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printf("Quality:\t\tgood\n");
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signalWrap(6);
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break;
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}
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case SBG_ECOM_MAG_CALIB_QUAL_POOR:
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{
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printf("Quality:\t\tpoor\n");
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signalWrap(5);
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break;
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}
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default:
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printf("Quality:\t\tundefined\n");
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}
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//
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// Convert the confidence indicator to human readable output
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//
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switch (pMagCalibResults->confidence)
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{
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case SBG_ECOM_MAG_CALIB_TRUST_HIGH:
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printf("Confidence:\t\thigh\n");
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break;
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case SBG_ECOM_MAG_CALIB_TRUST_MEDIUM:
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printf("Confidence:\t\tmedium\n");
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break;
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case SBG_ECOM_MAG_CALIB_TRUST_LOW:
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printf("Confidence:\t\tlow\n");
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break;
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default:
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printf("Confidence:\t\tundefined\n");
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}
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//
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// Print advanced status
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//
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printf("Advanced Status:\n");
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS)
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{
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printf("\t- Not enough valid points. Maybe you are moving too fast.\n");
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}
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS)
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{
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printf("\t- Unable to find a calibration solution. Maybe there are too much non static distortions.\n");
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}
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE)
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{
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printf("\t- The magnetic calibration has troubles to correct the magnetometers and inertial frame alignment.\n");
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}
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//
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// Test if we have a 2D or 3D calibration mode
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//
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if (mode == SBG_ECOM_MAG_CALIB_MODE_2D)
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{
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//
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// In 2D mode, a X or Y motion issue means we have too much motion
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//
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE)
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{
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printf("\t- Too much roll motion for a 2D magnetic calibration.\n");
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}
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE)
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{
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printf("\t- Too much pitch motion for a 2D magnetic calibration.\n");
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}
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}
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else
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{
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//
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// In 3D mode, a X or Y motion issue means we have not enough motion
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//
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE)
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{
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printf("\t- Not enough roll motion for a 3D magnetic calibration.\n");
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}
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE)
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{
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printf("\t- Not enough pitch motion for a 3D magnetic calibration.\n");
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}
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}
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//
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// Test if we had enough yaw motion to compute a calibration
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//
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if (pMagCalibResults->advancedStatus & SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE)
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{
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//
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// Test if we are in
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printf("\t- Not enough yaw motion to compute a valid magnetic calibration.\n");
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}
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//
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// Display the number of points used to compute the magnetic calibration
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//
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printf("\n\n");
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printf("Used Points:\t%u\n", pMagCalibResults->numPoints);
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printf("Max Points:\t%u\n", pMagCalibResults->maxNumPoints);
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//
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// Display magnetic field deviation errors
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//
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printf("\n\n-------------------------------------\n");
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printf("Magnetic field deviation report\n");
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printf("-------------------------------------\n");
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printf("\t\tMean\tStd\tMax\n");
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printf("Before\t\t%0.2f\t%0.2f\t%0.2f\n", pMagCalibResults->beforeMeanError, pMagCalibResults->beforeStdError, pMagCalibResults->beforeMaxError);
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printf("After\t\t%0.2f\t%0.2f\t%0.2f\n", pMagCalibResults->afterMeanError, pMagCalibResults->afterStdError, pMagCalibResults->afterMaxError);
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printf("Accuracy (deg)\t%0.2f\t%0.2f\t%0.2f\n", sbgRadToDegF(pMagCalibResults->meanAccuracy), sbgRadToDegF(pMagCalibResults->stdAccuracy), sbgRadToDegF(pMagCalibResults->maxAccuracy));
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printf("\n\n\n");
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}
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void sbgMagCibWorkThread::run()
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{
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m_iMagCalibStopControl = 1;
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SbgEComHandle comHandle;
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SbgErrorCode errorCode;
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SbgInterface sbgInterface;
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int32 retValue = 0;
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SbgEComDeviceInfo deviceInfo;
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SbgEComMagCalibResults magCalibResults;
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SbgEComMagCalibMode mode;
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//
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// Create an interface:
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// We can choose either a serial for real time operation, or file for previously logged data parsing
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// Note interface closing is also differentiated !
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//
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errorCode = sbgInterfaceSerialCreate(&sbgInterface, "/dev/sbg_serial_port", 460800); // Example for Unix using a FTDI Usb2Uart converter
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//errorCode = sbgInterfaceSerialCreate(&sbgInterface, "COM23", 115200); // Example for Windows serial communication
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//
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// Test that the interface has been created
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//
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if (errorCode == SBG_NO_ERROR)
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{
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//
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// Create the sbgECom library and associate it with the created interfaces
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//
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errorCode = sbgEComInit(&comHandle, &sbgInterface);
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//
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// Test that the sbgECom has been initialized
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//
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if (errorCode == SBG_NO_ERROR)
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{
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printf("sbgECom properly Initialized.\n");
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printf("sbgECom version %s\n\n", SBG_E_COM_VERSION_STR);
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//
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// Get device information
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//
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errorCode = sbgEComCmdGetInfo(&comHandle, &deviceInfo);
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//
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// Display device information if no error
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//
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if (errorCode == SBG_NO_ERROR)
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{
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printf("Device : %0.9u found\n", deviceInfo.serialNumber);
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}
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else
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{
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fprintf(stderr, "ellipseOnboardMagCalib: Unable to get device information.\n");
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}
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//
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// Define the calibration mode to perform
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//
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mode = SBG_ECOM_MAG_CALIB_MODE_3D;
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//
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// Start / reset the acquisition of magnetic field data
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// Each time this command is called, the device is prepared to acquire a new set of magnetic field data
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// You have to specify here if the magnetic field data acquisition will be used to compute a 2D or 3D calibration
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//
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errorCode = sbgEComCmdMagStartCalib(&comHandle, mode, SBG_ECOM_MAG_CALIB_HIGH_BW);
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//
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// Make sure that the magnetic calibration has started
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//
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if (errorCode == SBG_NO_ERROR)
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{
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//
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// The device is now acquiring some magnetic field data.
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// Wait for a user input before computing the magnetic calibration
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//
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printf("The device is acquiring magnetic field data.\n\nPress enter to stop the magnetic field acquisition.\n");
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//fgetc(stdin);//-------------------------------------------------------------------------------------------------------------------------------------------
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while (m_iMagCalibStopControl)
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{
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printf("h");
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}
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printf("kkkkkkkkkkkkkkkkkkkkkkkkkkkk\n");
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//
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// Try to compute a magnetic calibration and get the results
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//
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errorCode = sbgEComCmdMagComputeCalib(&comHandle, &magCalibResults);
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//
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|
||||||
// Make sure that we were able to get magnetic calibration results
|
|
||||||
//
|
|
||||||
if (errorCode == SBG_NO_ERROR)
|
|
||||||
{
|
|
||||||
//
|
|
||||||
// Test if the device has computed a valid magnetic calibration
|
|
||||||
//
|
|
||||||
if (magCalibResults.quality != SBG_ECOM_MAG_CALIB_QUAL_INVALID)
|
|
||||||
{
|
|
||||||
//
|
|
||||||
// Send the new magnetic calibration data
|
|
||||||
//
|
|
||||||
errorCode = sbgEComCmdMagSetCalibData(&comHandle, magCalibResults.offset, magCalibResults.matrix);
|
|
||||||
|
|
||||||
//
|
|
||||||
// Make sure that the new magnetic calibration data has been updated
|
|
||||||
//
|
|
||||||
if (errorCode == SBG_NO_ERROR)
|
|
||||||
{
|
|
||||||
printf("The new magnetic calibration has been applied.\n");
|
|
||||||
|
|
||||||
//
|
|
||||||
// Display the magnetic calibration status
|
|
||||||
//
|
|
||||||
displayMagCalibResults(mode, &magCalibResults);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to upload new magnetic calibration data.\n");
|
|
||||||
|
|
||||||
signalWrap(4);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
//
|
|
||||||
// Unable to compute a valid magnetic calibration
|
|
||||||
//
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to compute a valid magnetic calibration.\n");
|
|
||||||
|
|
||||||
signalWrap(3);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to get onboard magnetic calibration results.\n");
|
|
||||||
|
|
||||||
signalWrap(2);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to start the onboard magnetic calibration.\n");
|
|
||||||
|
|
||||||
signalWrap(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
//
|
|
||||||
// Close the sbgEcom library
|
|
||||||
//
|
|
||||||
sbgEComClose(&comHandle);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
//
|
|
||||||
// Unable to initialize the sbgECom
|
|
||||||
//
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to initialize the sbgECom library.\n");
|
|
||||||
retValue = -1;
|
|
||||||
|
|
||||||
signalWrap(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
//
|
|
||||||
// Close the interface
|
|
||||||
//
|
|
||||||
sbgInterfaceSerialDestroy(&sbgInterface);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
//
|
|
||||||
// Unable to create the interface
|
|
||||||
//
|
|
||||||
fprintf(stderr, "ellipseOnboardMagCalib: Unable to create the interface.\n");
|
|
||||||
retValue = -1;
|
|
||||||
|
|
||||||
signalWrap(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
printf("magCalib process complete!\n");
|
|
||||||
//fgetc(stdin);
|
|
||||||
}
|
|
||||||
|
|
||||||
void sbgMagCibWorkThread::signalWrap(int state)
|
|
||||||
{
|
|
||||||
std::cout<<"sbgMagCibWorkThread::signalWrap---------------------:"<< state <<std::endl;
|
|
||||||
|
|
||||||
|
|
||||||
m_iMagCalibState=state;
|
|
||||||
emit magCalibStateSignal(m_iMagCalibState);
|
|
||||||
}
|
|
||||||
|
|||||||
Reference in New Issue
Block a user