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hm
2022-04-24 12:09:15 +08:00
parent 3408627e4a
commit 16e4d0cb75
8 changed files with 193 additions and 122 deletions
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MavLinkNode/mavlinknode.cpp
+34 -34
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@@ -493,12 +493,12 @@ void MavLinkNode::process()//线程函数
{
//qDebug() << "client parse";
Mavlinkparse(SourceType::c_sock,datagram);
QApplication::processEvents();
//QApplication::processEvents();
}
else
{
//QThread::msleep(1000/running_frq);
QThread::yieldCurrentThread();
QThread::msleep(1000/running_frq);
//QThread::yieldCurrentThread();
}
//解码从串口来的
@@ -509,12 +509,12 @@ void MavLinkNode::process()//线程函数
{
//qDebug() << "serial port parse";
Mavlinkparse(SourceType::s_port,datagram);
QApplication::processEvents();
//QApplication::processEvents();
}
else
{
//QThread::msleep(1000/running_frq);
QThread::yieldCurrentThread();//打开这个CPU占用50%
QThread::msleep(1000/running_frq);
//QThread::yieldCurrentThread();//打开这个CPU占用50%
}
if(isInterruptionRequested())//退出
@@ -557,7 +557,6 @@ void MavLinkNode::TimerOut(void)
}
}
emit updateDlink(rssi,rate_in,0);
}
@@ -808,6 +807,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
case MAVLINK_MSG_ID_SYS_STATUS: {
mavlink_msg_sys_status_decode(&msg,&vehicle.sys_status);
/*
sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_present)); sys_status_csv.append(',');
sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_enabled)); sys_status_csv.append(',');
sys_status_csv.append(QString::number(vehicle.sys_status.onboard_control_sensors_health)); sys_status_csv.append(',');
@@ -821,7 +821,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
sys_status_csv.append(QString::number(vehicle.sys_status.errors_count2)); sys_status_csv.append(',');
sys_status_csv.append(QString::number(vehicle.sys_status.errors_count3)); sys_status_csv.append(',');
sys_status_csv.append(QString::number(vehicle.sys_status.errors_count4)); sys_status_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_HEARTBEAT: {
@@ -834,14 +834,14 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
Status->m_heartbeat.system_status = vehicle.heartbeat.system_status;
Status->m_heartbeat.type = vehicle.heartbeat.type;
/*
heartbeat_csv.append(QString::number(vehicle.heartbeat.type)); heartbeat_csv.append(',');
heartbeat_csv.append(QString::number(vehicle.heartbeat.autopilot)); heartbeat_csv.append(',');
heartbeat_csv.append(QString::number(vehicle.heartbeat.base_mode)); heartbeat_csv.append(',');
heartbeat_csv.append(QString::number(vehicle.heartbeat.custom_mode)); heartbeat_csv.append(',');
heartbeat_csv.append(QString::number(vehicle.heartbeat.system_status)); heartbeat_csv.append(',');
heartbeat_csv.append(QString::number(vehicle.heartbeat.mavlink_version)); heartbeat_csv.append('\n');
*/
emit beep(msg.sysid);
}break;
@@ -850,7 +850,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_msg_attitude_decode(&msg,&vehicle.attitude);
/*
attitude_csv.append(QString::number(vehicle.attitude.time_boot_ms)); attitude_csv.append(',');
attitude_csv.append(QString::number(vehicle.attitude.roll)); attitude_csv.append(',');
attitude_csv.append(QString::number(vehicle.attitude.pitch)); attitude_csv.append(',');
@@ -858,12 +858,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
attitude_csv.append(QString::number(vehicle.attitude.rollspeed)); attitude_csv.append(',');
attitude_csv.append(QString::number(vehicle.attitude.pitchspeed)); attitude_csv.append(',');
attitude_csv.append(QString::number(vehicle.attitude.yawspeed)); attitude_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_INS1: {
mavlink_msg_ins1_decode(&msg,&vehicle.ins1);
/*
ins1_csv.append(QString::number(vehicle.ins1.time_boot_ms)); ins1_csv.append(',');
ins1_csv.append(QString::number(vehicle.ins1.pitch)); ins1_csv.append(',');
ins1_csv.append(QString::number(vehicle.ins1.roll)); ins1_csv.append(',');
@@ -889,13 +889,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
ins1_csv.append(QString::number(vehicle.ins1.eph)); ins1_csv.append(',');
ins1_csv.append(QString::number(vehicle.ins1.epv)); ins1_csv.append(',');
ins1_csv.append(QString::number(vehicle.ins1.satellites_visible)); ins1_csv.append('\n');
*/
emit signal_ins1(vehicle.ins1);
}break;
case MAVLINK_MSG_ID_INS2: {
mavlink_msg_ins2_decode(&msg,&vehicle.ins2);
/*
ins2_csv.append(QString::number(vehicle.ins2.time_boot_ms)); ins2_csv.append(',');
ins2_csv.append(QString::number(vehicle.ins2.pitch)); ins2_csv.append(',');
ins2_csv.append(QString::number(vehicle.ins2.roll)); ins2_csv.append(',');
@@ -921,13 +921,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
ins2_csv.append(QString::number(vehicle.ins2.eph)); ins2_csv.append(',');
ins2_csv.append(QString::number(vehicle.ins2.epv)); ins2_csv.append(',');
ins2_csv.append(QString::number(vehicle.ins2.satellites_visible)); ins2_csv.append('\n');
*/
emit signal_ins2(vehicle.ins2);
}break;
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);
/*
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.time_usec));gps_raw_int_csv.append(',');
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.lat));gps_raw_int_csv.append(',');
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.lon));gps_raw_int_csv.append(',');
@@ -945,7 +945,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.vel_acc));gps_raw_int_csv.append(',');
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.hdg_acc));gps_raw_int_csv.append(',');
gps_raw_int_csv.append(QString::number(vehicle.gps_raw_int.yaw));gps_raw_int_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
@@ -953,7 +953,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
mavlink_msg_servo_output_raw_decode(&msg,&vehicle.servo_output_raw);
/*
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.time_usec)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.port)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo1_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
@@ -972,7 +972,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo14_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo15_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo16_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append('\n');
*/
emit signal_servo_output_raw(vehicle.servo_output_raw);
@@ -983,7 +983,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
mavlink_msg_nav_controller_output_decode(&msg,&vehicle.nav_controller_output);
/*
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_roll)); nav_controller_output_csv.append(',');
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_pitch)); nav_controller_output_csv.append(',');
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.nav_bearing)); nav_controller_output_csv.append(',');
@@ -992,7 +992,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.alt_error)); nav_controller_output_csv.append(',');
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.aspd_error)); nav_controller_output_csv.append(',');
nav_controller_output_csv.append(QString::number(vehicle.nav_controller_output.xtrack_error)); nav_controller_output_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_AIRSPEED_AUTOCAL: {
@@ -1003,13 +1003,13 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_SCALED_PRESSURE: {
mavlink_msg_scaled_pressure_decode(&msg,&vehicle.scaled_pressure);
/*
scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.time_boot_ms)); scaled_pressure_csv.append(',');
scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.press_abs)); scaled_pressure_csv.append(',');
scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.press_diff)); scaled_pressure_csv.append(',');
scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.temperature)); scaled_pressure_csv.append(',');
scaled_pressure_csv.append(QString::number(vehicle.scaled_pressure.temperature_press_diff)); scaled_pressure_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_EXTENDED_SYS_STATE: {
@@ -1050,18 +1050,18 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
}break;
case MAVLINK_MSG_ID_VFR_HUD: {
mavlink_msg_vfr_hud_decode(&msg,&vehicle.vfr_hud);
/*
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.airspeed)); vfr_hud_csv.append(',');
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.groundspeed)); vfr_hud_csv.append(',');
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.alt)); vfr_hud_csv.append(',');
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.climb)); vfr_hud_csv.append(',');
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.heading)); vfr_hud_csv.append(',');
vfr_hud_csv.append(QString::number(vehicle.vfr_hud.throttle)); vfr_hud_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_EMB_ATMO_COM: {
mavlink_msg_emb_atmo_com_decode(&msg,&vehicle.emb_atom_com);
/*
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.time_boot_ms)); emb_atom_com_csv.append(',');
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.Airspeed)); emb_atom_com_csv.append(',');
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.beta)); emb_atom_com_csv.append(',');
@@ -1070,12 +1070,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.qbar)); emb_atom_com_csv.append(',');
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.seq)); emb_atom_com_csv.append(',');
emb_atom_com_csv.append(QString::number(vehicle.emb_atom_com.mach)); emb_atom_com_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_TurbineState: {
mavlink_msg_turbinestate_decode(&msg,&vehicle.turbinstate);
/*
turbinstate_csv.append(QString::number(vehicle.turbinstate.time_boot_ms)); turbinstate_csv.append(',');
turbinstate_csv.append(QString::number(vehicle.turbinstate.RPM_mea)); turbinstate_csv.append(',');
turbinstate_csv.append(QString::number(vehicle.turbinstate.T5)); turbinstate_csv.append(',');
@@ -1103,11 +1103,11 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
turbinstate_csv.append(QString::number(vehicle.turbinstate.rev)); turbinstate_csv.append(',');
turbinstate_csv.append(QString::number(vehicle.turbinstate.CFuelMode)); turbinstate_csv.append(',');
turbinstate_csv.append(QString::number(vehicle.turbinstate.Cmd)); turbinstate_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_BMUState: {
mavlink_msg_bmustate_decode(&msg,&vehicle.bmustate);
/*
bmustate_csv.append(QString::number(vehicle.bmustate.time_boot_ms)); bmustate_csv.append(',');
bmustate_csv.append(QString::number(vehicle.bmustate.BAT1_group_voltage_mv)); bmustate_csv.append(',');
bmustate_csv.append(QString::number(vehicle.bmustate.BAT1_group_current_dA)); bmustate_csv.append(',');
@@ -1129,11 +1129,11 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
bmustate_csv.append(QString::number(vehicle.bmustate.BAT2_STA1)); bmustate_csv.append(',');
bmustate_csv.append(QString::number(vehicle.bmustate.BAT2_STA2)); bmustate_csv.append(',');
bmustate_csv.append(QString::number(vehicle.bmustate.p500w_enabled)); bmustate_csv.append('\n');
*/
}break;
case MAVLINK_MSG_ID_CCMState: {
mavlink_msg_ccmstate_decode(&msg,&vehicle.ccmstate);
/*
ccmstate_csv.append(QString::number(vehicle.ccmstate.time_boot_ms)); ccmstate_csv.append(',');
ccmstate_csv.append(QString::number(vehicle.ccmstate.fuel_level)); ccmstate_csv.append(',');
ccmstate_csv.append(QString::number(vehicle.ccmstate.temp[0])); ccmstate_csv.append(',');
@@ -1145,7 +1145,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
ccmstate_csv.append(QString::number(vehicle.ccmstate.volts[2])); ccmstate_csv.append(',');
ccmstate_csv.append(QString::number(vehicle.ccmstate.volts[3])); ccmstate_csv.append(',');
ccmstate_csv.append(QString::number(vehicle.ccmstate.echo_seq)); ccmstate_csv.append('\n');
*/
}break;
}