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修改1号机的标定值，修改状态界面显示

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hm
2022-10-26 09:38:59 +08:00
parent 00e30ddea6
commit 0bbee4580d
2 changed files with 84 additions and 59 deletions
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App/StatusUI/StatusUI.cpp
+39 -15
View File
@@ -43,21 +43,6 @@ StatusUI::StatusUI(QWidget *parent) :
install(base,0,"马赫数[Ma]",0,QMap<QVariant, StateWidget::state>{{0.15,StateWidget::state::red},{0.8,StateWidget::state::green},{2,StateWidget::state::orange}}); install(base,0,"马赫数[Ma]",0,QMap<QVariant, StateWidget::state>{{0.15,StateWidget::state::red},{0.8,StateWidget::state::green},{2,StateWidget::state::orange}});
//install(base,0,"爬升率[m/s]",0,QMap<QVariant, StateWidget::state>{{-80,StateWidget::state::red},{100,StateWidget::state::green},{500,StateWidget::state::orange}}); //install(base,0,"爬升率[m/s]",0,QMap<QVariant, StateWidget::state>{{-80,StateWidget::state::red},{100,StateWidget::state::green},{500,StateWidget::state::orange}});
install(base,0,"导航模式",0,
QMap<QVariant, StateWidget::state>{{"未初始化",StateWidget::state::gray},
{"纯惯导",StateWidget::state::red},
{"惯性/卫星",StateWidget::state::orange},
{"惯性/差分",StateWidget::state::green},
{"预留",StateWidget::state::red}});
install(base,0,"双天线定向",0,
QMap<QVariant, StateWidget::state>{{"未定向",StateWidget::state::red},
{"已定向",StateWidget::state::green}});
install(actuator,0,"左副翼[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}}); install(actuator,0,"左副翼[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}});
install(actuator,0,"右副翼[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}}); install(actuator,0,"右副翼[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}});
install(actuator,0,"左升降[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}}); install(actuator,0,"左升降[°]",0,QMap<QVariant, StateWidget::state>{{2,StateWidget::state::red}});
@@ -218,6 +203,45 @@ StatusUI::StatusUI(QWidget *parent) :
{"使用320",StateWidget::state::green}}); {"使用320",StateWidget::state::green}});
install(statu2,0,"320导航模式",0,
QMap<QVariant, StateWidget::state>{{"未初始化",StateWidget::state::gray},
{"纯惯导",StateWidget::state::red},
{"惯性/卫星",StateWidget::state::orange},
{"惯性/差分",StateWidget::state::green},
{"预留",StateWidget::state::red}});
install(statu2,0,"320双天线",0,
QMap<QVariant, StateWidget::state>{{"未定向",StateWidget::state::red},
{"已定向",StateWidget::state::green}});
install(statu2,0,"SBG状态",0,
QMap<QVariant, StateWidget::state>{{"UNINITIALIZED",StateWidget::state::red},
{"VERTICAL_GYRO",StateWidget::state::orange},
{"AHRS",StateWidget::state::green},
{"NAV_VELOCITY",StateWidget::state::green},
{"NAV_POSTION",StateWidget::state::green}});
install(statu2,0,"SBG差分",0,
QMap<QVariant, StateWidget::state>{{"NO_SOLUTION",StateWidget::state::red},
{"UNKNOWN_TYPE",StateWidget::state::red},
{"SINGLE",StateWidget::state::orange},
{"PSRDIFF",StateWidget::state::green},
{"SBAS",StateWidget::state::green},
{"OMNISTAR",StateWidget::state::green},
{"RTK_FLOAT",StateWidget::state::green},
{"RTK_INT",StateWidget::state::green},
{"PPP_FLOAT",StateWidget::state::green},
{"PPP_INT",StateWidget::state::green},
{"FIXED",StateWidget::state::green},
{"undefined type",StateWidget::state::red}});
QMap<int,StateGroup *> column; QMap<int,StateGroup *> column;
//install 0 //install 0
column.clear(); column.clear();
App/mainwindow.cpp
+45 -44
View File
@@ -118,7 +118,7 @@ double pwm2angle_3(double x,double a,double b,double c,double d)
return angle; return angle;
} }
double act_pwm2deg3(double pwm,const double para[4]) double act_pwm2deg3(double pwm,const QList<double>&para)
{ {
double x; double x;
x = pwm; x = pwm;
@@ -134,7 +134,7 @@ double act_pwm2deg3(double pwm,const double para[4])
} }
double act_pwm2deg(double pwm, double mm_max, const double para[4]) double act_pwm2deg(double pwm, double mm_max,const QList<double>&para)
{ {
double b_pwm; double b_pwm;
b_pwm = pwm; b_pwm = pwm;
@@ -1330,18 +1330,18 @@ void MainWindow::setServoOffset(QVariant ch1_d0,QVariant ch1_kd,QVariant ch1_len
QString raw_ch1,raw_ch2,raw_ch3,raw_ch4; QString raw_ch1,raw_ch2,raw_ch3,raw_ch4;
double ste_fix[4] = {1E-09,-9E-08,-0.0207,+5.1113}; QList<double> ste_fix{+1E-09,-9E-08,-0.0207,+5.1113};
double vtl_fix[4] = {5E-10,-2E-06,+0.0178,+37.655}; QList<double> vtl_fix{+7E-10,-2E-06,+0.0176,+37.866};
double vtr_fix[4] = {5E-10,-2E-06,+0.0178,+37.705}; QList<double> vtr_fix{+7E-10,-2E-06,+0.0176,+37.809};
double dal_fix[4] = {-3E-09,-3E-06,-0.0343,+0.2415}; QList<double> dal_fix{-3E-09,-3E-06,-0.0343,+0.2415};
double dar_fix[4] = {-2E-09,-2E-06,-0.0340,+0.0294}; QList<double> dar_fix{-2E-09,-2E-06,-0.0340,+0.0294};
double drl_fix[4] = {-3E-09,-9E-07,-0.0334,-0.0413}; QList<double> drl_fix{-3E-09,-9E-07,-0.0334,-0.0413};
double drr_fix[4] = {-3E-09,-1E-06,-0.0334,-0.0183}; QList<double> drr_fix{-3E-09,-1E-06,-0.0334,-0.0183};
double del_fix[4] = {-1E-09,+2E-07,-0.0265,+0.2180}; QList<double> del_fix{-1E-09,+2E-07,-0.0265,+0.2180};
double der_fix[4] = {-1E-09,+2E-07,-0.0266,+0.1588}; QList<double> der_fix{-1E-09,+2E-07,-0.0266,+0.1588};
double dspl_fix[4] = {-5E-10,-2E-07,-0.0207,-39.091}; QList<double> dspl_fix{-5E-10,-2E-07,-0.0207,-39.091};
double dspr_fix[4] = {-5E-10,-7E-08,-0.0207,-38.312}; QList<double> dspr_fix{-5E-10,-7E-08,-0.0207,-38.312};
void MainWindow::update_servo_output_raw(int sysid,mavlink_servo_output_raw_t servo) void MainWindow::update_servo_output_raw(int sysid,mavlink_servo_output_raw_t servo)
@@ -1368,38 +1368,33 @@ void MainWindow::update_servo_output_raw(int sysid,mavlink_servo_output_raw_t se
if(sysid == 1) if(sysid == 1)
{ {
ste_fix = {+1E-09,-9E-08,-0.0207,+5.1113};
vtl_fix = {+7E-10,-2E-06,+0.0176,+37.866};
vtr_fix = {+7E-10,-2E-06,+0.0176,+37.809};
/* dal_fix = {-3E-09,-3E-06,-0.0343,+0.2415};
ste_fix = new double[4]{1E-09,-9E-08,-0.0207,+5.1113}; dar_fix = {-2E-09,-2E-06,-0.0340,+0.0294};
drl_fix = {-3E-09,-9E-07,-0.0334,-0.0413};
vtl_fix = new double[4]{5E-10,-2E-06,+0.0178,+37.655}; drr_fix = {-3E-09,-1E-06,-0.0334,-0.0183};
vtr_fix = new double[4]{5E-10,-2E-06,+0.0178,+37.705}; del_fix = {-1E-09,+2E-07,-0.0265,+0.2180};
der_fix = {-1E-09,+2E-07,-0.0266,+0.1588};
dal_fix = new double[4]{-3E-09,-3E-06,-0.0343,+0.2415}; dspl_fix = {-5E-10,-2E-07,-0.0207,-39.091};
dar_fix = new double[4]{-2E-09,-2E-06,-0.0340,+0.0294}; dspr_fix = {-5E-10,-7E-08,-0.0207,-38.312};
drl_fix = new double[4]{-3E-09,-9E-07,-0.0334,-0.0413};
drr_fix = new double[4]{-3E-09,-1E-06,-0.0334,-0.0183};
del_fix = new double[4]{-1E-09,+2E-07,-0.0265,+0.2180};
der_fix = new double[4]{-1E-09,+2E-07,-0.0266,+0.1588};
dspl_fix = new double[4]{-5E-10,-2E-07,-0.0207,-39.091};
dspr_fix = new double[4]{-5E-10,-7E-08,-0.0207,-38.312};*/
} }
else if(sysid == 2) else if(sysid == 2)
{ {
/* ste_fix = {+1E-09,-9E-08,-0.0207,+5.1113};
ste_fix = new double[4]{1E-09,-9E-08,-0.0207,+5.1113}; vtl_fix = {+7E-10,-2E-06,+0.0176,+37.866};
vtl_fix = new double[4]{5E-10,-2E-06,+0.0178,+37.655}; vtr_fix = {+7E-10,-2E-06,+0.0176,+37.809};
vtr_fix = new double[4]{5E-10,-2E-06,+0.0178,+37.705};
dal_fix = new double[4]{-3E-09,-3E-06,-0.0343,+0.2415}; dal_fix = {-3E-09,-3E-06,-0.0343,+0.2415};
dar_fix = new double[4]{-2E-09,-2E-06,-0.0340,+0.0294}; dar_fix = {-2E-09,-2E-06,-0.0340,+0.0294};
drl_fix = new double[4]{-3E-09,-9E-07,-0.0334,-0.0413}; drl_fix = {-3E-09,-9E-07,-0.0334,-0.0413};
drr_fix = new double[4]{-3E-09,-1E-06,-0.0334,-0.0183}; drr_fix = {-3E-09,-1E-06,-0.0334,-0.0183};
del_fix = new double[4]{-1E-09,+2E-07,-0.0265,+0.2180}; del_fix = {-1E-09,+2E-07,-0.0265,+0.2180};
der_fix = new double[4]{-1E-09,+2E-07,-0.0266,+0.1588}; der_fix = {-1E-09,+2E-07,-0.0266,+0.1588};
dspl_fix = new double[4]{-5E-10,-2E-07,-0.0207,-39.091}; dspl_fix = {-5E-10,-2E-07,-0.0207,-39.091};
dspr_fix = new double[4]{-5E-10,-7E-08,-0.0207,-38.312}; dspr_fix = {-5E-10,-7E-08,-0.0207,-38.312};
*/
} }
else else
{ {
@@ -2392,9 +2387,9 @@ void MainWindow::NAV_Info(Parse::_nav info)
{ {
if(statusui) if(statusui)
{ {
statusui->setValue(0,0,10,info.state1.insStatus); statusui->setValue(1,2,4,info.state1.insStatus);
statusui->setValue(0,0,11,(info.state2.heading)?("已定向"):("未定向")); statusui->setValue(1,2,5,(info.state2.heading)?("已定向"):("未定向"));
} }
} }
@@ -2649,7 +2644,10 @@ void MainWindow::imu_info(Parse::_imu info)
void MainWindow::euler_info(Parse::_euler info) void MainWindow::euler_info(Parse::_euler info)
{ {
if(statusui)
{
statusui->setValue(1,2,6,info.solution.solutionMode);//SBG状态
}
} }
void MainWindow::vel_info(Parse::_vel info) void MainWindow::vel_info(Parse::_vel info)
@@ -2659,7 +2657,10 @@ void MainWindow::vel_info(Parse::_vel info)
void MainWindow::pos_info(Parse::_pos info) void MainWindow::pos_info(Parse::_pos info)
{ {
if(statusui)
{
statusui->setValue(1,2,7,info.status.pos_type);//SBG差分
}
} }
void MainWindow::SSPC_Info_state(Parse::_sspc info) void MainWindow::SSPC_Info_state(Parse::_sspc info)