merge

Cockpit/Cockpit.cpp

@@ -9,8 +9,7 @@
 
 Cockpit::Cockpit(QWidget *parent): QWidget(parent)
 {
-  // setMouseTracking(true);
-  //leftladder = new LeftLadder(this);
+   //载入配置参数
 
 
    //颜色初始化
@@ -47,26 +46,27 @@ Cockpit::Cockpit(QWidget *parent): QWidget(parent)
 
    m_State.AOA = 0;
 
+   m_State.altitude = 0;
+   m_State.height = 0;
+
    m_State.airspeed = 0;//空速
    m_State.AirspeedFlag = 2;//i c t
    m_State.horizontalspeed = 0;//侧滑速度
    m_State.verticalspeed = 0;//爬升速度
 
-
    m_Target.airspeed_maximun = 25;
    m_Target.airspeed_minimun = 15;
 
-    m_SPD_HOLD = "MCP SPD";
-    m_HDG_HOLD = "HDG SEL";
-    m_ALT_HOLD = "ALT HOLD";
+   m_State.GPS = "GPS";
+   m_State.MODE = "MODE";
+   m_State.STATE = "ARM";
+
 
     //初始化完成后打开定时器开始计数刷新
-    UpdateTimer = new QTimer;
-
+    UpdateTimer = new QTimer(this);
     connect(UpdateTimer,SIGNAL(timeout()),
             this,SLOT(UpdateTimeout()));
-
-    UpdateTimer->start(50);//50Hz
+    UpdateTimer->start(100);//10Hz
 
 
 }
@@ -88,22 +88,54 @@ void Cockpit::UpdateTimeout(void)
     //如果已经设置了新的数据，那么刷新
     if(m_State.isUpdate == true)
     {
+        m_State.airspeed = m_State.airspeed*0.75 + m_State.airspeed_t*0.25;
+
+        m_State.altitude = m_State.altitude*0.75 + m_State.altitude_t*0.25;
+
+        m_State.verticalspeed = m_State.verticalspeed*0.75 + m_State.verticalspeed_t*0.25;
+
         update();
         m_State.isUpdate = false;
     }
 
 }
 
+void Cockpit::mouseMoveEvent(QMouseEvent *e)
+{
+    const QPoint curPos = e->pos();
+    if (isPress)
+    {
+        QPoint offset = curPos - lastPoint;
+        lastPoint = curPos;
 
+        V_pos +=  100.0 * offset.y()/height();
+        H_pos +=  100.0 * offset.x()/width();
+    }
+
+    update();
+}
 
 void Cockpit::mouseReleaseEvent(QMouseEvent *e)
 {
-    qDebug() << "cockpit release" << e;
+    isPress = false;
+    setCursor(Qt::ArrowCursor);
 }
 
 void Cockpit::mousePressEvent(QMouseEvent *e)
 {
-    qDebug() << "cockpit press" << e;
+    if (e->button() == Qt::RightButton)
+    {
+        lastPoint = e->pos();
+        isPress = true;
+        setCursor(Qt::ClosedHandCursor);
+    }
+    else if(e->buttons() == Qt::MiddleButton)
+    {
+        Scale = 2100;//默认很大
+        H_pos = 44.7059;
+        V_pos = 43.8235;
+    }
+    update();
 }
 
 void Cockpit::mouseDoubleClickEvent(QMouseEvent *e)
@@ -113,10 +145,82 @@ void Cockpit::mouseDoubleClickEvent(QMouseEvent *e)
 
 void Cockpit::wheelEvent(QWheelEvent *e)
 {
-    Q_UNUSED(e);
-    //update();
+    switch(e->modifiers())
+    {
+    case Qt::ControlModifier://垂直移动
+    {
+        if(e->delta() > 0)
+        {
+            V_pos -= 1;
+            if(V_pos < 1)
+            {
+                V_pos = 1;
+            }
+        }
+        else if(e->delta() < 0)
+        {
+            V_pos += 1;
+            if(V_pos > 100)
+            {
+                V_pos = 100;
+            }
+        }
+    }break;
+    case Qt::ShiftModifier://水平移动
+    {
+        if(e->delta() > 0)
+        {
+            H_pos -= 1;
+            if(H_pos < 1)
+            {
+                H_pos = 1;
+            }
+        }
+        else if(e->delta() < 0)
+        {
+            H_pos += 1;
+            if(H_pos > 100)
+            {
+                H_pos = 100;
+            }
+        }
+    }break;
+    case Qt::AltModifier://水平移动
+    {
+        if(e->delta() > 0)
+        {
+            m_State.altitude -= 0.1;
+        }
+        else if(e->delta() < 0)
+        {
+            m_State.altitude += 0.1;
+        }
+    }break;
+    default://水平移动
+    {
+        if(e->delta() > 0)
+        {
+            Scale -= 50;
+            if(Scale < 50)
+            {
+                Scale = 50;
+            }
+        }
+        else if(e->delta() < 0)
+        {
+            Scale += 50;
+        }
+    }
+
+    }
+
+
+    //保存配置参数
+
+    update();
 }
 
+<<<<<<< HEAD
 void Cockpit::resizeEvent(QResizeEvent *event)
 {
     emit SizeChanged(event);
@@ -139,13 +243,27 @@ void Cockpit::showEvent(QShowEvent *event)
 }
 
 
+=======
+>>>>>>> develop
 
 void Cockpit::setPitch(double Pitch)
 {
-        if(isnan(Pitch))
-        {
-            return;
-        }
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            if(isnan(Pitch))
+            {
+                return;
+            }
+    #endif
+#endif
+
+        //if(Pitch > 360) Pitch = 360;
+        //else if(Pitch < -360) Pitch = -360;
+
         int n = Pitch/360;
         Pitch = Pitch - n*360;
         m_State.pitch = Pitch;
@@ -160,12 +278,56 @@ void Cockpit::setPitch(double Pitch)
         m_State.isUpdate = true;
 }
 
+void Cockpit::setPitchTarget(double Pitch)
+{
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            if(isnan(Pitch))
+            {
+                return;
+            }
+    #endif
+#endif
+
+        //if(Pitch > 360) Pitch = 360;
+        //else if(Pitch < -360) Pitch = -360;
+
+        int n = Pitch/360;
+        Pitch = Pitch - n*360;
+        m_Target.pitch = Pitch;
+        if(m_Target.pitch < -90)
+        {
+            m_Target.pitch += 180;
+        }
+        else if(m_Target.pitch > 90)
+        {
+            m_Target.pitch -= 180;
+        }
+        m_Target.isUpdate = true;
+}
+
+
 void Cockpit::setRoll(double Roll)
 {
-        if(isnan(Roll))
-        {
-            return;
-        }
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            if(isnan(Roll))
+            {
+                return;
+            }
+    #endif
+#endif
+        //if(Roll > 360) Roll = 360;
+        //else if(Roll < -360) Roll = -360;
+
         int n = Roll/360;
         Roll = Roll - n*360;
         m_State.roll = Roll;
@@ -180,14 +342,57 @@ void Cockpit::setRoll(double Roll)
         m_State.isUpdate = true;
 }
 
+void Cockpit::setRollTarget(double Roll)
+{
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+            if(isnan(Roll))
+            {
+                return;
+            }
+    #endif
+#endif
+        //if(Roll > 360) Roll = 360;
+        //else if(Roll < -360) Roll = -360;
+
+        int n = Roll/360;
+        Roll = Roll - n*360;
+        m_Target.roll = Roll;
+        if(m_Target.roll < -180)
+        {
+            m_Target.roll += 360;
+        }
+        else if(m_Target.roll > 180)
+        {
+            m_Target.roll -= 360;
+        }
+        m_Target.isUpdate = true;
+}
+
+
 void Cockpit::setYaw(double Yaw)
 {
-    if(isnan(Yaw))
-    {
-        return;
-    }
-    int n = Yaw/360;
-    Yaw = Yaw - n*360;
+
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+    #else
+        if(isnan(Yaw))
+        {
+            return;
+        }
+    #endif
+#endif
+
+    if(Yaw < 0) Yaw += 360;
+    else if(Yaw > 360) Yaw -= 360;
+
     m_State.yaw = Yaw;
     if(m_State.yaw < 0)
     {
@@ -196,6 +401,33 @@ void Cockpit::setYaw(double Yaw)
     m_State.isUpdate = true;
 }
 
+void Cockpit::setYawTarget(double Yaw)
+{
+#ifdef unix
+
+#else
+    #ifdef __MINGW32__
+
+
+    #else
+        if(isnan(Yaw))
+        {
+            return;
+        }
+    #endif
+#endif
+    if(Yaw < 0) Yaw += 360;
+    else if(Yaw > 360) Yaw -= 360;
+
+    m_Target.yaw = Yaw;
+    if(m_Target.yaw < 0)
+    {
+        m_Target.yaw += 360;
+    }
+    m_Target.isUpdate = true;
+}
+
+
 
 void Cockpit::setAttitude(double Pitch,double Roll,double Yaw)
 {
@@ -204,46 +436,147 @@ void Cockpit::setAttitude(double Pitch,double Roll,double Yaw)
     setYaw(Yaw);
 }
 
+void Cockpit::setAttitudeTarget(double Pitch,double Roll,double Yaw)
+{
+    setPitchTarget(Pitch);
+    setRollTarget(Roll);
+    setYawTarget(Yaw);
+}
+
 void Cockpit::setAttitudeSpeed(double PitchSpeed,double RollSpeed,double YawSpeed)
 {
     m_State.gy = PitchSpeed;
     m_State.gx = RollSpeed;
     m_State.gz = YawSpeed;
     m_State.isUpdate = true;
-
 }
 
 
 void Cockpit::setAltitude(double Altitude)
 {
-    m_State.altitude = Altitude;
+    if(Altitude > 99999) Altitude = 99999;
+    else if(Altitude < (-9999)) Altitude = -9999;
+
+    m_State.altitude_t = Altitude;
     m_State.isUpdate = true;
 }
 
-void Cockpit::setAirSpeed(double speed)
+void Cockpit::setAltitudeTarget(double Altitude)
 {
-    m_State.airspeed =  speed;
+    if(Altitude > 99999) Altitude = 99999;
+    else if(Altitude < (-9999)) Altitude = -9999;
+
+    m_Target.altitude = Altitude;
+    m_Target.isUpdate = true;
+}
+
+void Cockpit::setAirSpeed(double speed,uint8_t flag)
+{
+    m_State.AirspeedFlag = flag;
+
+    if(speed < 0) speed = 0;
+    else if(speed > 999) speed = 999;
+    m_State.airspeed_t =  speed;
     m_State.isUpdate = true;
 }
 
+void Cockpit::setAirSpeedTarget(double speed, uint8_t flag)
+{
+    Q_UNUSED(flag)
+
+    if(speed < 0) speed = 0;
+    else if(speed > 999) speed = 999;
+
+    m_Target.airspeed =  speed;
+    m_Target.isUpdate = true;
+}
+
+
+
+
+void Cockpit::setVerticalSpeed(double speed)
+{
+    m_State.verticalspeed_t =  speed;
+    m_State.isUpdate = true;
+}
+
+void Cockpit::setVerticalSpeedTarget(double speed)
+{
+    m_Target.verticalspeed =  speed;
+    m_Target.isUpdate = true;
+}
+
+void Cockpit::setXTrack(double value)
+{
+    if(value > 9999) value = 9999;
+    else if(value < (-9999)) value = -9999;
+
+    m_State.xtrack = value;
+    m_State.isUpdate = true;
+}
+
+void Cockpit::setWP_dist(double value)
+{
+    if(value > 9999) value = 9999;
+    else if(value < (-9999)) value = -9999;
+
+    m_State.wp_dist = value;
+    m_State.isUpdate = true;
+}
+
+void Cockpit::setAlt_err(double value)
+{
+    if(value > 9999) value = 9999;
+    else if(value < (-9999)) value = -9999;
+
+    m_State.alt_err = value;
+    m_State.isUpdate = true;
+}
+
+
+void Cockpit::setGPS(QString str)
+{
+    m_State.GPS = str;
+    m_Target.isUpdate = true;
+}
+
+void Cockpit::setMode(QString str)
+{
+    m_State.MODE = str;
+    m_Target.isUpdate = true;
+}
+
+void Cockpit::setState(QString str)
+{
+    m_State.STATE = str;
+    m_Target.isUpdate = true;
+}
+
+void Cockpit::setAOA(qreal Value)
+{
+    m_State.AOA = Value;
+    m_Target.isUpdate = true;
+}
+
+
+
 void Cockpit::setLed(QColor LED)
 {
     m_Color.LedColor = LED;
+    m_Target.isUpdate = true;
 }
 
 
 void Cockpit::paintEvent(QPaintEvent *)
 {
-    qreal scale = 2500.0;
-
     QPainter painter(this);
     painter.setRenderHint(QPainter::Antialiasing); 	/* 使用反锯齿(如果可用) */
     painter.setRenderHint(QPainter::TextAntialiasing);
     painter.setRenderHint(QPainter::SmoothPixmapTransform);
 
-    painter.translate(width() / 2, 4* height() / 10);	/* 坐标变换为窗体中心 */
+    painter.translate(width() * H_pos / 100,height() * V_pos / 100);	/* 坐标变换为窗体中心 */
     int side = qMin(width(), height());                 /* 这一句决定了这个模块只能是方形 */
-    painter.scale(side / scale, side / scale);	/* 比例缩放 */
+    painter.scale(side / Scale, side / Scale);	/* 比例缩放 */
     painter.setPen(Qt::NoPen);
 
     //全局设置字体
@@ -255,15 +588,21 @@ void Cockpit::paintEvent(QPaintEvent *)
     setPalette(QPalette(Qt::black)); //设置背景颜色
     setAutoFillBackground(true);//设置自动填充背景色
 
+    if(isNormalSize)
+    {
+        drawPitch(&painter);
+        drawRoll(&painter);
+        drawRollScale(&painter);
+        drawLeftScale(&painter);
+        drawRightScale(&painter);
+        drawVRate(&painter);
+        drawYawScale(&painter);
+        drawTopStatuts(&painter);
+    }
+    else//简单显示
+    {
 
-    drawPitch(&painter);
-    drawRoll(&painter);
-    drawRollScale(&painter);
-    drawLeftScale(&painter);
-    drawRightScale(&painter);
-    drawVRate(&painter);
-    drawYawScale(&painter);
-    drawTopStatuts(&painter);
+    }
 
 }
 
@@ -371,7 +710,7 @@ void Cockpit::drawPitch(QPainter *painter)
 
     //qDebug() << "tar_y" << tar_y;
 
-    tar_y = (tar_y > 475)?(475):((tar_y<-525)?(-525):(tar_y));
+    tar_y = (tar_y > 475)?(475):((tar_y<-475)?(-475):(tar_y));
 
     painter->translate(0,tar_y);
 
@@ -385,19 +724,19 @@ void Cockpit::drawPitch(QPainter *painter)
     painter->save();
     QPainterPath path;
     //画外面边框
-    path.moveTo(-4000,-4000);
-    path.lineTo( 4000,-4000);
-    path.lineTo( 4000, 4000);
-    path.lineTo(-4000, 4000);
+    path.moveTo(-4100,-4100);
+    path.lineTo( 4100,-4100);
+    path.lineTo( 4100, 4100);
+    path.lineTo(-4100, 4100);
     //画里面边框
     path.addRoundRect(-500,-500,1000,1000,20,20);
     //按照规则填充两个边框之间的部分
     path.setFillRule(Qt::OddEvenFill);
+
+    pen.setColor(Qt::black);
+    painter->setPen(pen);
     painter->fillPath(path,Qt::black);
-
     painter->restore();
-
-
 }
 
 //画姿态roll
@@ -542,8 +881,8 @@ void Cockpit::drawLeftScale(QPainter *painter)
         QFont font;
         ePen.setColor(m_Color.CentreLineColor);
         ePen.setWidth(8);
-        font.setPointSize(60);
-        font.setWeight(QFont::ExtraLight);
+        font.setPointSize(70);
+        font.setWeight(QFont::Bold);
         font.setFamily("Arial");//非衬线
         painter->setPen(ePen);
         painter->setFont(font);
@@ -632,17 +971,30 @@ void Cockpit::drawLeftScale(QPainter *painter)
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(15);
 
-      font.setPointSize(90);
-      font.setWeight(QFont::ExtraLight);
+      font.setPixelSize(120);
+      font.setWeight(QFont::Bold);
       font.setFamily("Arial");//非衬线
 
       painter->setPen(ePen);
       painter->setFont(font);
 
-      QString DacadeText = QString::number(qAbs(int(m_State.airspeed/10)));  //设置十位以上
-      QString UnitText = QString::number(qAbs(int(m_State.airspeed)%10));  //设置个位
 
 
+      qreal Unit = m_State.airspeed - int(m_State.airspeed)/10 * 10;
+      qreal Decimal = m_State.airspeed - int(m_State.airspeed);
+
+
+      QString DacadeText;  //设置十位以上
+
+      if(Unit > 9.5)
+      {
+          DacadeText = QString::number(qAbs(int((m_State.airspeed + 1)/10)));
+      }
+      else
+      {
+          DacadeText = QString::number(qAbs(int(m_State.airspeed/10)));
+      }
+
       //显示10位
       if((m_State.airspeed < 0)&&(m_State.airspeed > -10))
       {
@@ -654,12 +1006,8 @@ void Cockpit::drawLeftScale(QPainter *painter)
          //qDebug() << DacadeText;
       }
 
-
-      qreal Unit = m_State.airspeed - int(m_State.airspeed)/10 * 10;
-      qreal Decimal = m_State.airspeed - int(m_State.airspeed);
-
       //qDebug() << Unit << Decimal;
-
+      //显示个位
       int count = 1;
       for(int i = -1.5 - Unit;i<(1.5 - Unit);i+=1)
       {
@@ -674,7 +1022,7 @@ void Cockpit::drawLeftScale(QPainter *painter)
 
           ePen.setColor(m_Color.CentreLineColor);
           ePen.setWidth(15);
-          font.setPointSize(90);
+          font.setPixelSize(120);
           font.setFamily("Arial");//非衬线
 
           painter->setPen(ePen);
@@ -685,7 +1033,6 @@ void Cockpit::drawLeftScale(QPainter *painter)
           else
              painter->translate(150,(i + Unit) * 120 + 60);
 
-          //qDebug() << "Unit" << Unit;
 
           //此段程序在未理解之前，请不要随意修改(负数未解决)
           switch (count) {
@@ -738,10 +1085,6 @@ void Cockpit::drawLeftScale(QPainter *painter)
           }
 
           count++;
-
-
-
-
           painter->restore();
       }
 
@@ -790,12 +1133,13 @@ void Cockpit::drawLeftScale(QPainter *painter)
       ePen.setColor(QColor("#FFFFFF"));
       ePen.setWidth(8);
 
-      font.setPixelSize(60);
+      font.setPixelSize(120);
+      font.setWeight(QFont::Bold);
 
       painter->setPen(ePen);
       painter->setFont(font);
       painter->setBrush(QColor("#000000"));
-      painter->drawRect(0,600,300,100);
+      painter->drawRect(0,600,300,150);
 
 
       QString AS_flag = "I";
@@ -803,17 +1147,17 @@ void Cockpit::drawLeftScale(QPainter *painter)
       switch (m_State.AirspeedFlag) {
       default:
       case 0:
-          painter->drawText(QRect(20,600,280,100),Qt::AlignLeft|Qt::AlignVCenter,"IAS " + QString::number(m_State.airspeed,'f',0));
+          painter->drawText(QRect(20,600,280,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.airspeed,'f',0));
           AS_flag = "I";
           ePen.setColor(m_Color.NoticeColor);
           break;
       case 1:
-          painter->drawText(QRect(20,600,280,100),Qt::AlignLeft|Qt::AlignVCenter,"CAS " + QString::number(m_State.airspeed,'f',0));
+          painter->drawText(QRect(20,600,280,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.airspeed,'f',0));
           AS_flag = "C";
           ePen.setColor(m_Color.NoticeColor);
           break;
       case 2:
-          painter->drawText(QRect(20,600,280,100),Qt::AlignLeft|Qt::AlignVCenter,"TAS " + QString::number(m_State.airspeed,'f',0));
+          painter->drawText(QRect(20,600,280,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.airspeed,'f',0));
           AS_flag = "T";
           ePen.setColor(m_Color.NormalColor);
           break;
@@ -821,7 +1165,7 @@ void Cockpit::drawLeftScale(QPainter *painter)
 
       ePen.setWidth(15);
       font.setPixelSize(100);
-      font.setBold(true);//加粗
+      font.setWeight(QFont::Bold);
 
       painter->setPen(ePen);
       painter->setFont(font);
@@ -835,8 +1179,10 @@ void Cockpit::drawLeftScale(QPainter *painter)
 
       ePen.setColor(m_Color.TargetColor);
       ePen.setWidth(15);
-      font.setPixelSize(100);
+      font.setPixelSize(120);
       font.setFamily("Arial");//非衬线
+      font.setWeight(QFont::Bold);
+
 
       painter->setPen(ePen);
       painter->setFont(font);
@@ -857,8 +1203,8 @@ void Cockpit::drawLeftScale(QPainter *painter)
       painter->setPen(ePen);
       painter->setFont(font);
 
-      painter->drawText(QRect(0,-820,300,120),Qt::AlignLeft|Qt::AlignVCenter,"OL " +QString::number(m_Target.airspeed,'f',0));
-      painter->drawText(QRect(0,-920,300,120),Qt::AlignLeft|Qt::AlignVCenter,"AOA " +QString::number(m_Target.airspeed,'f',0));
+      painter->drawText(QRect(0,-820,300,120),Qt::AlignLeft|Qt::AlignVCenter,"OL " +QString::number(m_State.OL,'f',0));
+      painter->drawText(QRect(0,-920,300,120),Qt::AlignLeft|Qt::AlignVCenter,"AOA " +QString::number(m_State.AOA,'f',0));
 
       painter->restore();//画顶部过载值和迎角结束
 
@@ -902,9 +1248,9 @@ void Cockpit::drawRightScale(QPainter *painter)
         QFont font;
         ePen.setColor(m_Color.CentreLineColor);
         ePen.setWidth(10);
-        font.setPointSize(60);
+        font.setPixelSize(90);
 
-        font.setWeight(QFont::ExtraLight);
+        font.setWeight(QFont::Bold);
         font.setFamily("Arial");//非衬线
 
         painter->setPen(ePen);
@@ -912,10 +1258,8 @@ void Cockpit::drawRightScale(QPainter *painter)
 
         if((i%100) == 0)
         {
-
            painter->drawLine(0,i * h,40,i * h);
-           painter->drawText(QRect(50,i * h - 30,240,80),Qt::AlignVCenter|Qt::AlignRight, strText);
-
+           painter->drawText(QRect(50,i * h - 75,240,150),Qt::AlignVCenter|Qt::AlignRight, strText);
         }
         else if((i%50) == 0)
         {
@@ -969,14 +1313,14 @@ void Cockpit::drawRightScale(QPainter *painter)
      ePen.setColor(m_Color.TargetColor);
      ePen.setWidth(15);
 
-     font.setPixelSize(100);
-     font.setWeight(QFont::ExtraLight);
+     font.setPixelSize(120);
+     font.setWeight(QFont::Bold);
      font.setFamily("Arial");//非衬线
 
      painter->setPen(ePen);
      painter->setFont(font);
 
-     painter->drawText(QRect(0,-720,310,100),Qt::AlignRight|Qt::AlignVCenter,QString::number(m_Target.altitude,'f',0));
+     painter->drawText(QRect(0,-720,300,120),Qt::AlignRight|Qt::AlignVCenter,QString::number(m_Target.altitude,'f',0));
 
      painter->restore();
 
@@ -987,17 +1331,17 @@ void Cockpit::drawRightScale(QPainter *painter)
      ePen.setWidth(8);
 
 
-     font.setPixelSize(60);
+     font.setPixelSize(120);
 
-     font.setWeight(QFont::ExtraLight);
+     font.setWeight(QFont::Bold);
      font.setFamily("Arial");//非衬线
 
      painter->setPen(ePen);
      painter->setFont(font);
      painter->setBrush(QColor("#000000"));
-     painter->drawRect(0,600,300,100);
+     painter->drawRect(0,600,300,150);
 
-     painter->drawText(QRect(20,600,280,100),Qt::AlignLeft|Qt::AlignVCenter,"Hei " + QString::number(m_State.altitude,'f',0));
+     painter->drawText(QRect(20,600,280,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.altitude,'f',0));
 
      painter->restore();
 
@@ -1027,17 +1371,34 @@ void Cockpit::drawRightScale(QPainter *painter)
 
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(10);
-      font.setPointSize(90);
+      font.setPixelSize(120);
+      font.setWeight(QFont::Bold);
       painter->setPen(ePen);
       painter->setFont(font);
 
 
+
+
+
+      qreal Unit   = m_State.altitude - int(m_State.altitude)/100 * 100;
+      //qreal Dacade = qreal(int(m_State.altitude)%100)/10.0;
+      //qreal Decimal = m_State.altitude - int(m_State.altitude);
+
       QString thousandText = QString::number(qAbs(int(m_State.altitude/1000)));//设置千位以上
-      QString HundredText = QString::number(qAbs(int(m_State.altitude/100)%10));//设置百位
-      QString DacadeText = QString::number(int(m_State.altitude/10));  //设置十位
-      QString UnitText = QString::number(qAbs(int(m_State.altitude)%10));  //设置个位
+      QString HundredText;//设置百位
+      //QString DacadeText = QString::number(int(m_State.altitude/10));  //设置十位
+      //QString UnitText = QString::number(qAbs(int(m_State.altitude)%10));  //设置个位
 
+      if(Unit > 99.5)
+      {
+           HundredText = QString::number(qAbs(int(m_State.altitude/100)%10) + 1);
+      }
+      else
+      {
+          HundredText = QString::number(qAbs(int(m_State.altitude/100)%10));
+      }
 
+      //qDebug() << thousandText << HundredText << Unit;
 
       //写千位
       if(m_State.altitude >= 0)
@@ -1061,7 +1422,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
             ePen.setColor(m_Color.CentreLineColor);
             ePen.setWidth(10);
-            font.setPointSize(90);
+            font.setPixelSize(120);
             painter->setPen(ePen);
             painter->setFont(font);
             painter->drawText(QRect(160,-50,90,100),Qt::AlignVCenter|Qt::AlignRight, thousandText);
@@ -1077,10 +1438,13 @@ void Cockpit::drawRightScale(QPainter *painter)
 
       ePen.setColor(m_Color.CentreLineColor);
       ePen.setWidth(10);
-      font.setPointSize(70);
+      font.setPixelSize(120);
       painter->setPen(ePen);
       painter->setFont(font);
+
       //写百位
+      painter->drawText(QRect(0,-50,300,100),Qt::AlignVCenter|Qt::AlignRight, HundredText);
+      /*
       if(int(qAbs(m_State.altitude/100)) > 0)//说明有数
       {
           painter->drawText(QRect(0,-50,300,100),Qt::AlignVCenter|Qt::AlignRight, HundredText);
@@ -1089,13 +1453,7 @@ void Cockpit::drawRightScale(QPainter *painter)
       {
           painter->drawText(QRect(0,-50,300,100),Qt::AlignVCenter|Qt::AlignRight, "0");
       }
-
-
-      qreal Unit   = m_State.altitude - int(m_State.altitude)/100 * 100;
-      qreal Dacade = qreal(int(m_State.altitude)%100)/10.0;
-
-      qreal Decimal = m_State.altitude - int(m_State.altitude);
-      //float m_Unit   =qAbs(Dacade - int(Dacade));
+      */
 
 
       //写十个位
@@ -1133,7 +1491,7 @@ void Cockpit::drawRightScale(QPainter *painter)
 
               ePen.setColor(m_Color.CentreLineColor);
               ePen.setWidth(10);
-              font.setPointSize(70);
+              font.setPixelSize(100);
 
               painter->setPen(ePen);
               painter->setFont(font);
@@ -1223,8 +1581,8 @@ void Cockpit::drawVRate(QPainter *painter)
 
         ePen.setWidth(8);
         ePen.setColor(Qt::white);
-        font.setPointSize(50);
-        font.setWeight(QFont::ExtraLight);
+        font.setPixelSize(80);
+        font.setWeight(QFont::Bold);
         font.setFamily("Arial");//非衬线
 
         painter->setPen(ePen);
@@ -1315,14 +1673,14 @@ void Cockpit::drawVRate(QPainter *painter)
 
     ePen.setWidth(8);
     ePen.setColor(m_Color.TargetColor);
-    font.setPointSize(50);
-    font.setWeight(QFont::ExtraLight);
+    font.setPixelSize(90);
+    font.setWeight(QFont::Bold);
     font.setFamily("Arial");//非衬线
 
     painter->setPen(ePen);
     painter->setFont(font);
 
-    painter->drawText(QRect(-80,-550,120,60),Qt::AlignHCenter|Qt::AlignLeft,QString::number(m_Target.verticalspeed,'f',(qAbs(m_Target.verticalspeed) < 10.0)?(1):(0)));
+    painter->drawText(QRect(-80,-600,300,150),Qt::AlignVCenter|Qt::AlignLeft,QString::number(m_Target.verticalspeed,'f',(qAbs(m_Target.verticalspeed) < 10.0)?(1):(0)));
 
     painter->restore();//画目标值结束
 
@@ -1334,14 +1692,14 @@ void Cockpit::drawVRate(QPainter *painter)
 
     ePen.setWidth(8);
     ePen.setColor(m_Color.CurrentColor);
-    font.setPointSize(50);
-    font.setWeight(QFont::ExtraLight);
+    font.setPixelSize(90);
+    font.setWeight(QFont::Bold);
     font.setFamily("Arial");//非衬线
 
     painter->setPen(ePen);
     painter->setFont(font);
     //在下方显示当前值
-    painter->drawText(QRect(-80,500,120,60),Qt::AlignHCenter|Qt::AlignLeft,QString::number(m_State.verticalspeed,'f',(qAbs(m_State.verticalspeed) < 10.0)?(1):(0)));
+    painter->drawText(QRect(-80,450,300,150),Qt::AlignVCenter|Qt::AlignLeft,QString::number(m_State.verticalspeed,'f',(qAbs(m_State.verticalspeed) < 10.0)?(1):(0)));
 
     painter->restore();//画当前值结束
 
@@ -1393,8 +1751,10 @@ void Cockpit::drawYawScale(QPainter *painter)
     //画顶部紫色目标值 (紫色在白色下面，并且在刻度上面，并且有一部分会重叠)
     painter->save();
     //旋转
-    painter->rotate(m_Target.yaw - m_State.yaw);
-
+    float rotate_deg = -(m_State.yaw - m_Target.yaw);
+    int n = rotate_deg/360;
+    rotate_deg = rotate_deg - n*360;
+    painter->rotate(rotate_deg);
     static const QPointF Tarpoint[8] = {
         QPointF(-40,-500),
         QPointF(-40,-530),
@@ -1416,6 +1776,29 @@ void Cockpit::drawYawScale(QPainter *painter)
     painter->restore();
 
 
+    //画中间大罗盘
+    painter->save();
+    painter->rotate(-m_State.yaw);
+
+    static const QPointF Npoints[3] = {
+        QPointF(-70,0),
+        QPointF(   0,-300),
+        QPointF( 70,0)};
+    static const QPointF Spoints[3] = {
+        QPointF(-70,0),
+        QPointF(   0,300),
+        QPointF( 70,0)};
+
+    painter->setPen(Qt::NoPen);
+    painter->setBrush(QColor("#FF0000"));
+    painter->drawPolygon(Npoints,3);
+
+    painter->setBrush(QColor("#0000FF"));
+    painter->drawPolygon(Spoints,3);
+
+    painter->restore();
+
+
     //画一个中间小飞机
     painter->save();
 
@@ -1463,25 +1846,25 @@ void Cockpit::drawYawScale(QPainter *painter)
         painter->save();
         painter->translate(i*100,0);
 
-        painter->drawEllipse(-5,-5,10,10);
+        painter->drawEllipse(-8,-8,16,16);
         painter->restore();
 
         painter->save();
         painter->translate(0,i*100);
 
-        painter->drawEllipse(-5,-5,10,10);
+        painter->drawEllipse(-8,-8,16,16);
         painter->restore();
     }
 
     //画竖条
     painter->save();
-    if(abs(m_State.distofly) >= 10)//大于10，对数显示
+    if(abs(m_State.xtrack) >= 10)//大于10，对数显示
     {
-        painter->translate(((m_State.distofly >= 0)?(1.0):(-1.0))*log10(abs(m_State.distofly)) * 100,0);
+        painter->translate(((m_State.xtrack >= 0)?(1.0):(-1.0))*log10(abs(m_State.xtrack)) * 100,0);
     }
     else
     {
-        painter->translate(m_State.distofly * 10.0,0);//小于10，线性 显示
+        painter->translate(m_State.xtrack * 10.0,0);//小于10，线性 显示
     }
 
     ePen.setWidth(8);
@@ -1492,13 +1875,13 @@ void Cockpit::drawYawScale(QPainter *painter)
 
 
     painter->save();//画横条开始
-    if(abs(m_State.distofly) >= 10)//大于10，对数显示
+    if(abs(m_State.alt_err) >= 10)//大于10，对数显示
     {
-        painter->translate(0,((m_State.distofly >= 0)?(1.0):(-1.0))*log10(abs(m_State.distofly)) * 100);
+        painter->translate(0,((m_State.alt_err >= 0)?(1.0):(-1.0))*log10(abs(m_State.alt_err)) * 100);
     }
     else
     {
-        painter->translate(0,m_State.distofly * 10.0);//小于10，线性 显示
+        painter->translate(0,m_State.alt_err * 10.0);//小于10，线性 显示
     }
     ePen.setWidth(8);
     ePen.setColor(m_Color.TargetColor);
@@ -1515,10 +1898,10 @@ void Cockpit::drawYawScale(QPainter *painter)
     painter->save();
 
     static const QPointF Rectpoints[4] = {
-          QPointF(-90,-620),
-          QPointF( 90,-620),
-          QPointF( 90, -540),
-          QPointF(-90, -540),
+          QPointF(-120,-650),
+          QPointF( 120,-650),
+          QPointF( 120, -540),
+          QPointF(-120, -540),
       };
 
     ePen.setWidth(1);
@@ -1528,17 +1911,18 @@ void Cockpit::drawYawScale(QPainter *painter)
     painter->drawPolygon(Rectpoints,4);
 
     ePen.setColor(m_Color.CurrentColor);
-    font.setPointSize(60);
+    font.setPixelSize(120);
+    font.setWeight(QFont::Bold);
     painter->setPen(ePen);
     painter->setFont(font);
-    painter->drawText(QRect(-90,-625,180,80),Qt::AlignCenter,QString::number(m_State.yaw,'f',0));
+    painter->drawText(QRect(-90,-670,180,150),Qt::AlignCenter,QString::number(m_State.yaw,'f',0));
 
     painter->restore();
 
     ePen.setColor(m_Color.CentreLineColor);
     ePen.setWidth(10);
 
-    font.setPointSize(60);
+    font.setPixelSize(60);
 
     painter->setPen(ePen);
     painter->setFont(font);
@@ -1565,15 +1949,21 @@ void Cockpit::drawYawScale(QPainter *painter)
             QString Flag = "";
            if((i == 0)||(i == 18)||(i == 36)||(i == 54))
            {
+               painter->save();
+
                switch (i) {
                case 0:
                    Flag = "N";
+                   ePen.setColor(QColor("#FF0000"));
+                   painter->setPen(ePen);
                    break;
                case 18:
                    Flag = "E";
                    break;
                case 36:
                    Flag = "S";
+                   ePen.setColor(QColor("#0000FF"));
+                   painter->setPen(ePen);
                    break;
                case 54:
                    Flag = "W";
@@ -1582,7 +1972,13 @@ void Cockpit::drawYawScale(QPainter *painter)
                    break;
                }
 
-               painter->drawText(QRect(-40,-450,80,80),Qt::AlignVCenter|Qt::AlignHCenter,Flag);
+               font.setPixelSize(120);
+               font.setWeight(QFont::Bold);
+
+               painter->setFont(font);
+
+               painter->drawText(QRect(-75,-470,150,150),Qt::AlignVCenter|Qt::AlignHCenter,Flag);
+               painter->restore();
            }
            else
            {
@@ -1633,29 +2029,17 @@ void Cockpit::drawTopStatuts(QPainter *painter)
 
     //画大字
     ePen.setColor(m_Color.StatusColor);
-    ePen.setWidth(10);
-    font.setPointSize(50);
+    ePen.setWidth(12);
+    font.setPixelSize(90);
+    font.setWeight(QFont::Bold);
     font.setFamily("Arial");//非衬线
 
     painter->setPen(ePen);
     painter->setFont(font);
 
-    painter->drawText(QRect(-530,10,320,80),Qt::AlignCenter,m_SPD_HOLD);
-    painter->drawText(QRect(-160,10,320,80),Qt::AlignCenter,m_HDG_HOLD);
-    painter->drawText(QRect( 210,10,320,80),Qt::AlignCenter,m_ALT_HOLD);
-
-    //画小字
-    ePen.setColor(m_Color.CentreLineColor);
-    ePen.setWidth(5);
-    font.setPointSize(30);
-
-    painter->setPen(ePen);
-    painter->setFont(font);
-
-    painter->drawText(QRect(-530,100,320,50),Qt::AlignCenter,m_SPD_HOLD);
-    painter->drawText(QRect(-160,100,320,50),Qt::AlignCenter,m_HDG_HOLD);
-    painter->drawText(QRect( 210,100,320,50),Qt::AlignCenter,m_ALT_HOLD);
-
+    painter->drawText(QRect(-550,0,365,150),Qt::AlignCenter,m_State.GPS);
+    painter->drawText(QRect(-185,0,365,150),Qt::AlignCenter,m_State. MODE);
+    painter->drawText(QRect( 185,0,365,150),Qt::AlignCenter,m_State.STATE);
 
     painter->restore();//画状态结束