From 2b024562b5eb779137ed81ff17994c6abafc10e9 Mon Sep 17 00:00:00 2001
From: hm-thinkbook14p <gxms0904hm@163.com>
Date: Wed, 17 May 2023 16:27:12 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BD=BF=E7=94=A8GPS=E6=97=B6=E9=97=B4?=
 =?UTF-8?q?=E4=BD=9C=E4=B8=BA=E5=9F=BA=E5=87=86?=
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---
 App/ToolsUI/PowerSystem/PowerSystem.cpp |  5 ++---
 App/ToolsUI/PowerSystem/PowerSystem.h   |  8 ++++---
 App/mainwindow.cpp                      | 12 ++++++++--
 MavLinkNode/mavlinknode.cpp             | 30 +++++++++++++++++++++++++
 MavLinkNode/mavlinknode.h               |  7 +++++-
 5 files changed, 53 insertions(+), 9 deletions(-)

diff --git a/App/ToolsUI/PowerSystem/PowerSystem.cpp b/App/ToolsUI/PowerSystem/PowerSystem.cpp
index 7d81826..883453f 100644
--- a/App/ToolsUI/PowerSystem/PowerSystem.cpp
+++ b/App/ToolsUI/PowerSystem/PowerSystem.cpp
@@ -446,7 +446,7 @@ void PowerSystem::setFuel(QVariant press, QVariant value)
 
 
 
-void PowerSystem::setMa(QVariant Ma)
+void PowerSystem::setMa(qint64 time, QVariant Ma)
 {
     if(AMaTimer)
     {
@@ -456,9 +456,8 @@ void PowerSystem::setMa(QVariant Ma)
         }
     }
 
-
     averageMa.append(Ma.toDouble());
-    averageTime.append(QDateTime::currentMSecsSinceEpoch());
+    averageTime.append(time);
 
     while(averageTime.back() - averageTime.first() > (100 * 1000))
     {
diff --git a/App/ToolsUI/PowerSystem/PowerSystem.h b/App/ToolsUI/PowerSystem/PowerSystem.h
index a59a4fa..6846f76 100644
--- a/App/ToolsUI/PowerSystem/PowerSystem.h
+++ b/App/ToolsUI/PowerSystem/PowerSystem.h
@@ -59,10 +59,7 @@ public:
     void setTurbineState(mavlink_turbinestate_t *t);
     void setCCMState(mavlink_ccmstate_t *t);
 
-    void setMa(QVariant Ma);
-    void setAlt(QVariant Alt);
 
-    void setFuel(QVariant press,QVariant value);
 
     void updateUI();
 
@@ -82,6 +79,11 @@ private slots:
 public slots:
     void setFloat(void);
 
+    void setMa(qint64 time, QVariant Ma);
+    void setAlt(QVariant Alt);
+
+    void setFuel(QVariant press,QVariant value);
+
 
 private:
     QTimer timer2;
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index 40996a1..814c1d5 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -1,4 +1,4 @@
-#include "mainwindow.h"
+#include "mainwindow.h"
 #include "QPushButton"
 #include "QAction"
 
@@ -275,6 +275,14 @@ MainWindow::MainWindow(QWidget *parent)
 
 
 
+    //dlink ----toolsui-power
+
+    //toolsui->powersystem->setMa(vehicle.timebase,vehicle.emb_atom_com.mach);
+
+    connect(dlink->mavlinknode,SIGNAL(setMa(qint64,QVariant)),
+            toolsui->powersystem,SLOT(setMa(qint64,QVariant)));
+
+
 
     //setting ----- map
     connect(setting->index0->globalsetting,SIGNAL(getMapTypes()),
@@ -1545,7 +1553,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
     toolsui->powersystem->setTurbineState(&vehicle.turbinstate);
     toolsui->powersystem->setCCMState(&vehicle.ccmstate);
 
-    toolsui->powersystem->setMa(vehicle.emb_atom_com.mach);
+    //toolsui->powersystem->setMa(vehicle.timebase,vehicle.emb_atom_com.mach);
     toolsui->powersystem->setAlt(vehicle.gps_raw_int.alt * 10e-4);
 
 
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index ba4c7f7..fda03ac 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -1318,6 +1318,21 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
                 gpsTimer.min  = min;
                 gpsTimer.sec  = sec;
 
+
+                if(!gpstimebase)
+                {
+                    gpstimebase = new QDateTime();
+                }
+
+                gpstimebase->setDate(QDate(year,mon,day));
+                gpstimebase->setTime(QTime(hour,min,sec));
+
+                vehicle.timebase = gpstimebase->currentMSecsSinceEpoch();
+
+                //qDebug() << gpstimebase->currentMSecsSinceEpoch();
+
+
+
                 _showinfo info;
 
                 info.flag = 0x24a8;
@@ -1417,6 +1432,18 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
                 gpsTimer.min  = min;
                 gpsTimer.sec  = sec;
 
+                if(!gpstimebase)
+                {
+                    gpstimebase = new QDateTime();
+                }
+
+                gpstimebase->setDate(QDate(year,mon,day));
+                gpstimebase->setTime(QTime(hour,min,sec));
+
+                vehicle.timebase = gpstimebase->currentMSecsSinceEpoch();
+
+                //qDebug() << gpstimebase->currentMSecsSinceEpoch();
+
                 _showinfo info;
 
 
@@ -1812,6 +1839,9 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
             setFileData(emb_atom_com_file,csvdata);
 
+
+            emit setMa(vehicle.timebase, vehicle.emb_atom_com.mach);
+
          }break;
          case MAVLINK_MSG_ID_TurbineState: {
             mavlink_msg_turbinestate_decode(&msg,&vehicle.turbinstate);
diff --git a/MavLinkNode/mavlinknode.h b/MavLinkNode/mavlinknode.h
index 512d565..73f2c1e 100644
--- a/MavLinkNode/mavlinknode.h
+++ b/MavLinkNode/mavlinknode.h
@@ -52,6 +52,9 @@ public:
         int sysid = 0;          /* ID of message sender system/aircraft */
         int compid = 0;         /* ID of the message sender component */
 
+        qint64 timebase;
+
+
         mavlink_autopilot_version_t autopilot_version = {0};
         mavlink_sys_status_t sys_status = {0};
         mavlink_heartbeat_t heartbeat = {0};
@@ -172,6 +175,8 @@ public:
     int infoExportID = 1;
 signals:
 
+    void setMa(qint64 time, QVariant Ma);
+
     void signal_autopilot_version(mavlink_autopilot_version_t);
     void signal_sys_status(mavlink_sys_status_t);
     void signal_heartbeat(mavlink_heartbeat_t);
@@ -348,7 +353,7 @@ protected:
 
     bool use_ins1 = false;
 
-
+    QDateTime *gpstimebase = nullptr;
 };
 
 #endif // MAVLINKNODE_H