Calibration Class Reference

Opens calibration window used for calibration. More...

#include <calibration.h>

Inheritance diagram for Calibration:

Collaboration diagram for Calibration:

Public Types
enum	CalibrationType {   CAL_NONE, CAL_STICK, CAL_ACCELEROMETER, CAL_GYROSCOPE,   CAL_TYPE_MASK = 0x0000FFFF, CAL_INDEX_MASK = 0xFFFF0000, CAL_INDEX_POS = 16 }

Public Slots
void	saveSettings ()
	Save calibration values into the device object. More...
void	startAccelerometerCalibration ()
	Shows user instructions for accelerometer calibration and initializes estimators. More...
void	startAccelerometerAngleCalibration ()
	Show calibration message to the user and enable accelerometer data event handler. More...
void	startGyroscopeCalibration ()
	Shows user instructions for gyroscope calibration and initializes estimators. More...
void	startGyroscopeOffsetCalibration ()
	Show calibration message to the user and enable gyroscope data event handler. More...
void	startStickOffsetCalibration ()
	Shows user instructions for stick offset calibration, initializes estimators and connects stick data event handlers. More...
void	startStickGainCalibration ()
	Shows user instructions for stick gain calibration, initializes estimators and connects stick data event handlers. More...

Signals
void	propertyUpdated ()

Public Member Functions
	Calibration (InputDevice *joystick, QDialog *parent=0)
	~Calibration ()

Protected Slots
void	closeEvent (QCloseEvent *event) override
	Ask for confirmation when the dialog is closed with unsafed changed. More...
void	resetSettings ()
	Asks for confirmation and resets calibration values of the selected device afterwards. More...
void	deviceSelectionChanged (int index)
	Device change event handler. Asks for confirmation if there are unsaved changes. More...
void	onSensorOffsetData (float x, float y, float z)
	Sensor data event handler. Performs gyroscope offset and accelerometer neutral orientation estimation and stops itself if the value was found or the process timed out. More...
void	onStickOffsetData (int x, int y)
	Stick data event handler. Performs stick offset estimation and stops itself if the value was found or the process timed out. More...
void	onStickGainData (int x, int y)
	Stick data event handler. Performs stick gain estimation and stops itself if the value was found or the process timed out. More...

Protected Member Functions
void	resetCalibrationValues ()
	Resets calibration values of the currently selected device and updates UI. More...
bool	askConfirmation (QString message, bool confirmed)
	Asks the user for confirmation with a given message if the given condition is false. More...
void	showSensorCalibrationValues (bool offsetXvalid, double offsetX, bool offsetYvalid, double offsetY, bool offsetZvalid, double offsetZ)
	Shows the sensor offset calibration values to the user. More...
void	showStickCalibrationValues (bool offsetXvalid, double offsetX, bool gainXvalid, double gainX, bool offsetYvalid, double offsetY, bool gainYvalid, double gainY)
	Shows the stick offset and gain calibration values to the user. More...
void	hideCalibrationData ()
	hides all calibration values and their labels. More...
void	selectTypeIndex (unsigned int type_index)
	Prepares calibration for the selected device type. Show all used values and labels and connect buttons to the corresponding event handlers. More...

Static Protected Member Functions
static void	stickRegression (double *offset, double *gain, double xoffset, double xmin, double xmax)
	Performs linear regression on the measurement values of one axis to determine offset and gain. More...

Private Attributes
Ui::Calibration *	m_ui
CalibrationType	m_type
unsigned int	m_index
bool	m_calibrated
bool	m_changed
JoyControlStick *	m_stick
JoySensor *	m_sensor
InputDevice *	m_joystick
StatisticsEstimator	m_offset [3]
StatisticsEstimator	m_min [2]
StatisticsEstimator	m_max [2]
PT1Filter	m_filter [2]
double	m_last_slope [2]
QDateTime	m_end_time
QElapsedTimer	m_rate_timer
int	m_sample_count
int	m_phase

Static Private Attributes
static const int	CAL_MIN_SAMPLES = 10
static const double	CAL_ACCURACY_SQ = 1e-4
static const double	STICK_CAL_TAU = 0.045
static const int	STICK_RATE_SAMPLES = 100
static const int	CAL_TIMEOUT = 30

Detailed Description

Opens calibration window used for calibration.

Class used for calibration of joysticks, gyroscopes etc.

Member Enumeration Documentation

CalibrationType

enum Calibration::CalibrationType

Enumerator
CAL_NONE
CAL_STICK
CAL_ACCELEROMETER
CAL_GYROSCOPE
CAL_TYPE_MASK
CAL_INDEX_MASK
CAL_INDEX_POS

Constructor & Destructor Documentation

Calibration()

Calibration::Calibration ( InputDevice *  joystick, QDialog *  parent = 0  )

explicit

Here is the call graph for this function:

~Calibration()

Calibration::~Calibration

(

)

Member Function Documentation

askConfirmation()

bool Calibration::askConfirmation ( QString  message, bool  confirmed  )

protected

Asks the user for confirmation with a given message if the given condition is false.

Parameters

[in]	message	The message to show.
[in]	confirmed	True, if the action is already confirmed or no confirmation is necessary.

Returns

True, if the action was confirmed. False otherwise.

Here is the caller graph for this function:

closeEvent

void Calibration::closeEvent ( QCloseEvent *  event )

overrideprotectedslot

Ask for confirmation when the dialog is closed with unsafed changed.

Here is the call graph for this function:

deviceSelectionChanged

void Calibration::deviceSelectionChanged ( int  index )

protectedslot

Device change event handler. Asks for confirmation if there are unsaved changes.

Here is the call graph for this function:

Here is the caller graph for this function:

hideCalibrationData()

void Calibration::hideCalibrationData ( )

protected

hides all calibration values and their labels.

Here is the caller graph for this function:

onSensorOffsetData

void Calibration::onSensorOffsetData ( float  x, float  y, float  z  )

protectedslot

Sensor data event handler. Performs gyroscope offset and accelerometer neutral orientation estimation and stops itself if the value was found or the process timed out.

The gyroscope is only offset calibrated since gain calibration would require an accurate turntable to apply a known rotation rate on all axes. The offset is determined by calculating the mean output value at rest.

The accelerometer calibration only rotates the coordinate system to the desired neutral orientation. Calibrating offset and gain would require an accurate fixture to align all axes parallel to gravity. The neutral angles are determined by calculating the mean output value at the desired position.

Here is the call graph for this function:

Here is the caller graph for this function:

onStickGainData

void Calibration::onStickGainData ( int  x, int  y  )

protectedslot

Stick data event handler. Performs stick gain estimation and stops itself if the value was found or the process timed out.

It looks for local minima and maxima outside the sticks dead zone which are used to estimate the sticks minimum and maximum position.

Here is the call graph for this function:

Here is the caller graph for this function:

onStickOffsetData

void Calibration::onStickOffsetData ( int  x, int  y  )

protectedslot

Stick data event handler. Performs stick offset estimation and stops itself if the value was found or the process timed out.

At the beginning, it waits for the first stick moved event and calculates the event rate for the denoise lag filter. Then it looks for local minima and maxima within the sticks dead zone which are used to estimate the sticks center position.

Here is the call graph for this function:

Here is the caller graph for this function:

propertyUpdated

void Calibration::propertyUpdated ( )

signal

resetCalibrationValues()

void Calibration::resetCalibrationValues ( )

protected

Resets calibration values of the currently selected device and updates UI.

Here is the call graph for this function:

Here is the caller graph for this function:

resetSettings

void Calibration::resetSettings ( )

protectedslot

Asks for confirmation and resets calibration values of the selected device afterwards.

Here is the call graph for this function:

Here is the caller graph for this function:

saveSettings

void Calibration::saveSettings ( )

slot

Save calibration values into the device object.

Here is the call graph for this function:

Here is the caller graph for this function:

selectTypeIndex()

void Calibration::selectTypeIndex ( unsigned int  type_index )

protected

Prepares calibration for the selected device type. Show all used values and labels and connect buttons to the corresponding event handlers.

Here is the call graph for this function:

Here is the caller graph for this function:

showSensorCalibrationValues()

void Calibration::showSensorCalibrationValues ( bool  offsetXvalid, double  offsetX, bool  offsetYvalid, double  offsetY, bool  offsetZvalid, double  offsetZ  )

protected

Shows the sensor offset calibration values to the user.

Here is the call graph for this function:

Here is the caller graph for this function:

showStickCalibrationValues()

void Calibration::showStickCalibrationValues ( bool  offsetXvalid, double  offsetX, bool  gainXvalid, double  gainX, bool  offsetYvalid, double  offsetY, bool  gainYvalid, double  gainY  )

protected

Shows the stick offset and gain calibration values to the user.

Here is the caller graph for this function:

startAccelerometerAngleCalibration

void Calibration::startAccelerometerAngleCalibration ( )

slot

Show calibration message to the user and enable accelerometer data event handler.

Here is the call graph for this function:

Here is the caller graph for this function:

startAccelerometerCalibration

void Calibration::startAccelerometerCalibration ( )

slot

Shows user instructions for accelerometer calibration and initializes estimators.

Here is the call graph for this function:

Here is the caller graph for this function:

startGyroscopeCalibration

void Calibration::startGyroscopeCalibration ( )

slot

Shows user instructions for gyroscope calibration and initializes estimators.

Here is the call graph for this function:

Here is the caller graph for this function:

startGyroscopeOffsetCalibration

void Calibration::startGyroscopeOffsetCalibration ( )

slot

Show calibration message to the user and enable gyroscope data event handler.

Here is the call graph for this function:

Here is the caller graph for this function:

startStickGainCalibration

void Calibration::startStickGainCalibration ( )

slot

Shows user instructions for stick gain calibration, initializes estimators and connects stick data event handlers.

Here is the call graph for this function:

Here is the caller graph for this function:

startStickOffsetCalibration

void Calibration::startStickOffsetCalibration ( )

slot

Shows user instructions for stick offset calibration, initializes estimators and connects stick data event handlers.

Here is the call graph for this function:

Here is the caller graph for this function:

stickRegression()

void Calibration::stickRegression ( double *  offset, double *  gain, double  xoffset, double  xmin, double  xmax  )

staticprotected

Performs linear regression on the measurement values of one axis to determine offset and gain.

Parameters

[out]	offset	The calculated offset.
[out]	gain	The calculated gain.
[in]	xoffset	The measured X value at the point (x, 0)
[in]	xmin	The measured X value at the point (x, AXISMIN)
[in]	xmax	The measured X value at the point (x, AXISMAX)

Since the sum (AXISMIN + 0 + AXISMAX) is 0, the calculation below could be simplified.

Here is the caller graph for this function:

Field Documentation

CAL_ACCURACY_SQ

const double Calibration::CAL_ACCURACY_SQ = 1e-4

staticprivate

CAL_MIN_SAMPLES

const int Calibration::CAL_MIN_SAMPLES = 10

staticprivate

CAL_TIMEOUT

const int Calibration::CAL_TIMEOUT = 30

staticprivate

m_calibrated

bool Calibration::m_calibrated

private

m_changed

bool Calibration::m_changed

private

m_end_time

QDateTime Calibration::m_end_time

private

m_filter

PT1Filter Calibration::m_filter[2]

private

m_index

unsigned int Calibration::m_index

private

m_joystick

InputDevice* Calibration::m_joystick

private

m_last_slope

double Calibration::m_last_slope[2]

private

m_max

StatisticsEstimator Calibration::m_max[2]

private

m_min

StatisticsEstimator Calibration::m_min[2]

private

m_offset

StatisticsEstimator Calibration::m_offset[3]

private

m_phase

int Calibration::m_phase

private

m_rate_timer

QElapsedTimer Calibration::m_rate_timer

private

m_sample_count

int Calibration::m_sample_count

private

m_sensor

JoySensor* Calibration::m_sensor

private

m_stick

JoyControlStick* Calibration::m_stick

private

m_type

CalibrationType Calibration::m_type

private

m_ui

Ui::Calibration* Calibration::m_ui

private

STICK_CAL_TAU

const double Calibration::STICK_CAL_TAU = 0.045

staticprivate

STICK_RATE_SAMPLES

const int Calibration::STICK_RATE_SAMPLES = 100

staticprivate

---

The documentation for this class was generated from the following files:

• /home/runner/work/doxygen/antimicrox/src/gui/calibration.h
• /home/runner/work/doxygen/antimicrox/src/gui/calibration.cpp