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年前需求基本全部做完

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This commit is contained in:
hm
2022-03-28 16:25:00 +08:00
parent f694821dca
commit 215e4b68bf
7 changed files with 189 additions and 94 deletions
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App/mainwindow.cpp
+70 -60
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@@ -422,6 +422,9 @@ MainWindow::MainWindow(QWidget *parent)
connect(setting->index1->paramInspect,SIGNAL(APversion(QString)),
toolsui->servosystem,SLOT(setAPversion(QString)));
connect(setting->index0->globalsetting,&GlobalSetting::setServo,
toolsui->servosystem,&ServoSystem::setServoOffset);
//==== showmessage=====
connect(toolsui->servosystem,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
@@ -443,7 +446,7 @@ MainWindow::MainWindow(QWidget *parent)
qDebug() << "OpenSSL支持情况:" << QSslSocket::supportsSsl();
showMessage("SslSocket库版本:" + QSslSocket::sslLibraryBuildVersionString());
showMessage((QSslSocket::supportsSsl())?("OpenSSL：支持"):("OpenSSL：不支持"));
showMessage((QSslSocket::supportsSsl())?("OpenSSL：支持"):("OpenSSL：不支持，地图缓存可能会受到影响"));
@@ -719,43 +722,6 @@ void MainWindow::keyPressEvent(QKeyEvent *event) //键盘按下事件
bool MainWindow::event(QEvent *event)
{
/*
switch (event->type()) {
case QEvent::TouchBegin:
case QEvent::TouchUpdate:
case QEvent::TouchEnd:
{
qDebug() <<"CProjectionPicture::event";
QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
QList<QTouchEvent::TouchPoint> touchPoints = touchEvent->touchPoints();
if (touchPoints.count() == 2) {
//m_bIsTwoPoint = true;//两指时不让移动
const QTouchEvent::TouchPoint &touchPoint0 = touchPoints.first();
const QTouchEvent::TouchPoint &touchPoint1 = touchPoints.last();
qreal currentScaleFactor =
QLineF(touchPoint0.pos(), touchPoint1.pos()).length()
/ QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length();
if (touchEvent->touchPointStates() & Qt::TouchPointReleased) {
if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() > QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
map->SetZoom(map->ZoomReal() + currentScaleFactor);
else if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() < QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
map->SetZoom(map->ZoomReal() - currentScaleFactor);
qDebug() << "currentScaleFactor" << currentScaleFactor;
}
update();
}
else if(touchPoints.count() == 1){
//m_bIsTwoPoint = false;
}
return true;
}
default:
break;
}
*/
return QWidget::event(event);
}
@@ -1347,6 +1313,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
QString::number(dlink->mavlinknode->vehicle.ccmstate.fuel_level * 10.0 / 65536.0f,'f',1));
toolsui->servosystem->setBUMState(&dlink->mavlinknode->vehicle.bmustate);
//在这里设置
toolsui->servosystem->setServoState(&dlink->mavlinknode->vehicle.servo_output_raw);
@@ -1650,32 +1617,75 @@ void MainWindow::updateUI()//事件驱动式更新数据
if(toolsui->senser)
{
toolsui->senser->setAltChart("GPS海拔",dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
statusui->setServo(1,QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2),
QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2));
statusui->setServo(2,QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2),
QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2));
statusui->setServo(3,QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2),
QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2));
statusui->setServo(4,QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2),
QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2));
statusui->setServo(5,QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2),
QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2));
toolsui->senser->setAttChart("内置俯仰",dlink->mavlinknode->vehicle.ins1.pitch);
toolsui->senser->setAttChart("外置俯仰",dlink->mavlinknode->vehicle.ins2.pitch);
toolsui->senser->setAttChart("内置滚转",dlink->mavlinknode->vehicle.ins1.roll);
toolsui->senser->setAttChart("外置滚转",dlink->mavlinknode->vehicle.ins2.roll);
/*
statusui->setServo(1,QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw),
QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw));
statusui->setServo(2,QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw),
QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw));
statusui->setServo(3,QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw),
QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw));
statusui->setServo(4,QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw),
QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw));
statusui->setServo(5,QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw),
QString::number((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw));
*/
toolsui->senser->setGyroChart("内置gx",dlink->mavlinknode->vehicle.ins1.gx);
toolsui->senser->setGyroChart("外置gx",dlink->mavlinknode->vehicle.ins2.gx);
toolsui->senser->setGyroChart("内置gy",dlink->mavlinknode->vehicle.ins1.gy);
toolsui->senser->setGyroChart("外置gy",dlink->mavlinknode->vehicle.ins2.gy);
toolsui->senser->setGyroChart("内置gz",dlink->mavlinknode->vehicle.ins1.gz);
toolsui->senser->setGyroChart("外置gz",dlink->mavlinknode->vehicle.ins2.gz);
toolsui->senser->setAccChart("内置ax",dlink->mavlinknode->vehicle.ins1.ax);
toolsui->senser->setAccChart("外置ax",dlink->mavlinknode->vehicle.ins2.ax);
toolsui->senser->setAccChart("内置ay",dlink->mavlinknode->vehicle.ins1.ay);
toolsui->senser->setAccChart("外置ay",dlink->mavlinknode->vehicle.ins2.ay);
toolsui->senser->setAccChart("内置az",dlink->mavlinknode->vehicle.ins1.az);
toolsui->senser->setAccChart("外置az",dlink->mavlinknode->vehicle.ins2.az);
toolsui->senser->setSpeedChart("真空速",dlink->mavlinknode->vehicle.emb_atom_com.Airspeed);
toolsui->senser->setSpeedChart("表速",dlink->mavlinknode->vehicle.vfr_hud.airspeed);
toolsui->senser->setSpeedChart("地速",dlink->mavlinknode->vehicle.gps_raw_int.vel * 10e-3);
}
qreal la_command = dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble();
qreal la_angle = dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble();
qreal ra_command = dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble();
qreal ra_angle = dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw)/ 32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble();
qreal le_command = dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble();
qreal le_angle = dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble();
qreal re_command = dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble();
qreal re_angle = dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble();
qreal ru_command = dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble();
qreal ru_angle = dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble();
statusui->setServo(1,QString::number(la_command,'f',2),
QString::number(la_angle,'f',2));
statusui->setServo(2,QString::number(ra_command,'f',2),
QString::number(ra_angle,'f',2));
statusui->setServo(3,QString::number(le_command,'f',2),
QString::number(le_angle,'f',2));
statusui->setServo(4,QString::number(re_command,'f',2),
QString::number(re_angle,'f',2));
statusui->setServo(5,QString::number(ru_command,'f',2),
QString::number(ru_angle,'f',2));
if(toolsui->senser)
{
toolsui->senser->setServoChart("左副翼指令",la_angle);
toolsui->senser->setServoChart("左副翼角度",la_command);
toolsui->senser->setServoChart("右副翼指令",ra_angle);
toolsui->senser->setServoChart("右副翼角度",ra_command);
toolsui->senser->setServoChart("左升降指令",le_angle);
toolsui->senser->setServoChart("左升降角度",le_command);
toolsui->senser->setServoChart("右升降指令",re_angle);
toolsui->senser->setServoChart("右升降角度",re_command);
toolsui->senser->setServoChart("方向舵指令",ru_angle);
toolsui->senser->setServoChart("方向舵角度",ru_command);
}
statusui->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0),