使用GPS时间作为基准

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);

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