def __init__(self, parent):
QFrame.__init__(self, parent, Qt.Popup | Qt.Window | Qt.Tool)
self.setupUi(self)
self.setWindowTitle("IMU Calibration")
self.parent = parent
self.ipcon = parent.ipcon
self.imu = parent.imu
self.cal_acc = CalibrateAccelerometer(self)
self.cal_mag = CalibrateMagnetometer(self)
self.cal_gyr_bias = CalibrateGyroscopeBias(self)
self.cal_gyr_bias = CalibrateGyroscopeBias(self)
self.cal_gyr_gain = CalibrateGyroscopeGain(self)
self.cal_imex = CalibrateImportExport(self)
self.tab_widget = QTabWidget()
self.tab_widget.currentChanged.connect(self.current_tab_changed)
self.tab_widget.addTab(self.cal_acc, "Accelerometer")
self.tab_widget.addTab(self.cal_mag, "Magnetometer")
self.tab_widget.addTab(self.cal_gyr_bias, "Gyroscope Bias")
self.tab_widget.addTab(self.cal_gyr_gain, "Gyroscope Gain")
self.tab_widget.addTab(self.cal_imex, "Im/Export")
self.vlayout.addWidget(self.tab_widget)
self.refresh_values()
class CalibrateWindow(QFrame, Ui_widget_calibrate):
TYPE_ACC_GAIN = 0
TYPE_ACC_BIAS = 1
TYPE_MAG_GAIN = 2
TYPE_MAG_BIAS = 3
TYPE_GYR_GAIN = 4
TYPE_GYR_BIAS = 5
def __init__(self, parent):
QFrame.__init__(self, parent, Qt.Popup | Qt.Window | Qt.Tool)
self.setupUi(self)
self.setWindowTitle("IMU Calibration")
self.parent = parent
self.ipcon = parent.ipcon
self.imu = parent.imu
self.cal_acc = CalibrateAccelerometer(self)
self.cal_mag = CalibrateMagnetometer(self)
self.cal_gyr_bias = CalibrateGyroscopeBias(self)
self.cal_gyr_bias = CalibrateGyroscopeBias(self)
self.cal_gyr_gain = CalibrateGyroscopeGain(self)
self.cal_imex = CalibrateImportExport(self)
self.tab_widget = QTabWidget()
self.tab_widget.currentChanged.connect(self.current_tab_changed)
self.tab_widget.addTab(self.cal_acc, "Accelerometer")
self.tab_widget.addTab(self.cal_mag, "Magnetometer")
self.tab_widget.addTab(self.cal_gyr_bias, "Gyroscope Bias")
self.tab_widget.addTab(self.cal_gyr_gain, "Gyroscope Gain")
self.tab_widget.addTab(self.cal_imex, "Im/Export")
self.vlayout.addWidget(self.tab_widget)
self.refresh_values()
def closeEvent(self, event):
self.parent.start()
event.accept()
def refresh_values(self):
acc_gain = self.imu.get_calibration(self.TYPE_ACC_GAIN)
acc_bias = self.imu.get_calibration(self.TYPE_ACC_BIAS)
mag_gain = self.imu.get_calibration(self.TYPE_MAG_GAIN)
mag_bias = self.imu.get_calibration(self.TYPE_MAG_BIAS)
gyr_gain = self.imu.get_calibration(self.TYPE_GYR_GAIN)
gyr_bias = self.imu.get_calibration(self.TYPE_GYR_BIAS)
self.label_acc_gain_x.setText(str(acc_gain[0]) + '/' + str(acc_gain[3]))
self.label_acc_gain_y.setText(str(acc_gain[1]) + '/' + str(acc_gain[4]))
self.label_acc_gain_z.setText(str(acc_gain[2]) + '/' + str(acc_gain[5]))
self.label_acc_bias_x.setText(str(acc_bias[0]))
self.label_acc_bias_y.setText(str(acc_bias[1]))
self.label_acc_bias_z.setText(str(acc_bias[2]))
self.label_mag_gain_x.setText(str(mag_gain[0]) + '/' + str(mag_gain[3]))
self.label_mag_gain_y.setText(str(mag_gain[1]) + '/' + str(mag_gain[4]))
self.label_mag_gain_z.setText(str(mag_gain[2]) + '/' + str(mag_gain[5]))
self.label_mag_bias_x.setText(str(mag_bias[0]))
self.label_mag_bias_y.setText(str(mag_bias[1]))
self.label_mag_bias_z.setText(str(mag_bias[2]))
self.label_gyr_gain_x.setText(str(gyr_gain[0]) + '/' + str(gyr_gain[3]))
self.label_gyr_gain_y.setText(str(gyr_gain[1]) + '/' + str(gyr_gain[4]))
self.label_gyr_gain_z.setText(str(gyr_gain[2]) + '/' + str(gyr_gain[5]))
self.label_gyr_bias_low_x.setText(str(gyr_bias[0]))
self.label_gyr_bias_low_y.setText(str(gyr_bias[1]))
self.label_gyr_bias_low_z.setText(str(gyr_bias[2]))
self.label_gyr_bias_low_t.setText(str(gyr_bias[3]))
self.label_gyr_bias_high_x.setText(str(gyr_bias[4]))
self.label_gyr_bias_high_y.setText(str(gyr_bias[5]))
self.label_gyr_bias_high_z.setText(str(gyr_bias[6]))
self.label_gyr_bias_high_t.setText(str(gyr_bias[7]))
def current_tab_changed(self, index):
if index == 0:
self.cal_acc.start()
self.cal_mag.stop()
self.cal_gyr_bias.stop()
self.cal_gyr_gain.stop()
elif index == 1:
self.cal_acc.stop()
self.cal_mag.start()
self.cal_gyr_bias.stop()
self.cal_gyr_gain.stop()
elif index == 2:
self.cal_acc.stop()
self.cal_mag.stop()
self.cal_gyr_bias.start()
self.cal_gyr_gain.stop()
elif index == 3:
self.cal_acc.stop()
self.cal_mag.stop()
self.cal_gyr_bias.stop()
self.cal_gyr_gain.start()
