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Make fixed/floating point telemetry an option for attitude_viz, rather

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than hard coded
This commit is contained in:
Allen
2011-05-25 12:22:47 -07:00
parent 304f308cc7
commit dc3bcd371b
1 changed files with 13 additions and 8 deletions
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sw/in_progress/python/attitude_viz.py
+13 -8
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@@ -17,7 +17,7 @@ import time
_NAME = 'attitude_viz'
class TelemetryQuat:
def __init__(self, message_name, index, name):
def __init__(self, message_name, index, name, integer):
self.message_name = message_name
self.index = index
self.name = name
@@ -25,6 +25,11 @@ class TelemetryQuat:
self.qx = 0
self.qy = 0
self.qz = 0
# optional scaling for fixed point telemetry
if integer:
self.scale = 0.00003051757812
else:
self.scale = 1.0
class TelemetryValue:
def __init__(self, message_name, index, name, offset, scale, max):
@@ -45,8 +50,8 @@ class Visualization:
self.airspeed = 0.0
self.display_list = None
self.display_dirty = True
for message_name, index, name in VEHICLE_QUATS:
self.quats.append(TelemetryQuat(message_name, index, name))
for message_name, index, name, bfp in VEHICLE_QUATS:
self.quats.append(TelemetryQuat(message_name, index, name, bfp))
for message_name, index, name, offset, scale, max in BAR_VALUES:
self.graph_values.append(TelemetryValue(message_name, index, name, offset, scale, max))
@@ -211,10 +216,10 @@ class Visualization:
for telemetry_quat in self.quats:
glPushMatrix()
try:
telemetry_quat.qi = telemetry_quat.qi * .00003051757812
telemetry_quat.qx = telemetry_quat.qx * .00003051757812
telemetry_quat.qy = telemetry_quat.qy * .00003051757812
telemetry_quat.qz = telemetry_quat.qz * .00003051757812
telemetry_quat.qi = telemetry_quat.qi * telemetry_quat.scale
telemetry_quat.qx = telemetry_quat.qx * telemetry_quat.scale
telemetry_quat.qy = telemetry_quat.qy * telemetry_quat.scale
telemetry_quat.qz = telemetry_quat.qz * telemetry_quat.scale
glRotate(360 * math.acos(telemetry_quat.qi ) / math.pi, telemetry_quat.qy, -telemetry_quat.qz, -telemetry_quat.qx)
glRotate(-90, 1, 0, 0)
self.DrawVehicle(telemetry_quat.name)
@@ -306,7 +311,7 @@ def init():
def run():
global VEHICLE_QUATS, BAR_VALUES
VEHICLE_QUATS = [ ["BOOZ2_AHRS_QUAT", 6, "Estimated"], ["BOOZ2_AHRS_QUAT", 2, "Reference"]]
VEHICLE_QUATS = [ ["AHRS_REF_QUAT", 6, "Estimate", True], ["AHRS_REF_QUAT", 2, "Reference", True]]
BAR_VALUES = [ ["BOOZ2_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100] ]
window_title = "Attitude_Viz"
try: