backup

App/Config/Config.cpp

@@ -4,7 +4,7 @@
 Config::Config(QObject *parent) :
    QObject(parent)
 {
-      qDebug() << "Config Operation";
+      qInfo() << "Config Operation";
 
       QDir *Dir = new QDir;
       if(!Dir->exists("./Config"))
@@ -50,21 +50,6 @@ void Config::loadJson(const QString& jsonFilename)
     }
 
     ConfigJson = doc.object();
-
-    /*
-    QJsonObject json = doc.object();
-
-    QJsonValue jsonValue = json.value("config");
-
-    if(jsonValue.isObject())
-    {
-        ConfigJson = jsonValue.toObject();
-    }
-    */
-
-
-    //qDebug() << ConfigJson;
-
 }
 
 

App/HealthUI/HealthUI.cpp

@@ -29,6 +29,7 @@ HealthUI::HealthUI(QWidget *parent) :
     Install("记录打开",7,state::inital);
     Install("外置记录",8,state::inital);//1,绿，2，黄
     Install("正在写入",9,state::inital);//3
+    Install("动检完成",10,state::inital);//3
 
 
 

App/mainwindow.cpp

@@ -7,6 +7,11 @@
 //从0开始
 bool getBit(uint32_t d,int32_t pos)
 {
+    if(pos > 31)
+    {
+        return false;
+    }
+
     bool bit = false;
 
     bit = (d >> pos) & 0x00000001;
@@ -1022,8 +1027,8 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
     if(servo.port == 0)
     {
        //12-16
-      statusui->setValue(2,0,QString::number(((int16_t)servo.servo1_raw)  * 19.0 / 32767.0,'f',2) + '|'
+      statusui->setValue(2,0,QString::number(((int16_t)servo.servo1_raw)  * 38.0 / 32767.0,'f',2) + '|'
-                           + QString::number(((int16_t)servo.servo13_raw) * 19.0 / 32767.0,'f',2));//8000H~7FFFH -38°~38°  1LSB=38/32767
+                           + QString::number(((int16_t)servo.servo13_raw) * 38.0 / 32767.0,'f',2));//8000H~7FFFH -38°~38°  1LSB=38/32767
 /*
       statusui->setValue(2,1,QString::number(((int16_t)servo.servo2_raw)  * 88.0 / 32767.0,'f',2) + '|'
                            + QString::number(((int16_t)servo.servo14_raw) * 88.0 / 32767.0,'f',2));//88/32767
@@ -1037,7 +1042,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
 
 
 
-      ch1 = QString::number(((int16_t)servo.servo5_raw)  * 19.0 / 32767.0,'f',2);
+      ch1 = QString::number(((int16_t)servo.servo5_raw)  * 38.0 / 32767.0,'f',2);
       //ch2 = QString::number(((int16_t)servo.servo6_raw)  * 88.0 / 32767.0,'f',2);
       ch3 = QString::number(((int16_t)servo.servo7_raw)  * 22.5 / 32767.0,'f',2);
       ch4 = QString::number(((int16_t)servo.servo8_raw)  * 22.5 / 32767.0,'f',2);
@@ -1047,7 +1052,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
     else if(servo.port == 1)
     {
         //17-19
-        statusui->setValue(2,1,ch1 + '|' + QString::number(((int16_t)servo.servo1_raw) * 19.0 / 32767.0,'f',2));
+        statusui->setValue(2,1,ch1 + '|' + QString::number(((int16_t)servo.servo1_raw) * 38.0 / 32767.0,'f',2));
         //statusui->setValue(2,5,ch2 + '|' + QString::number(((int16_t)servo.servo2_raw) * 88.0 / 32767.0,'f',2));
         statusui->setValue(2,3,ch3 + '|' + QString::number(((int16_t)servo.servo3_raw) * 22.5 / 32767.0,'f',2));
         statusui->setValue(2,5,ch4 + '|' + QString::number(((int16_t)servo.servo4_raw) * 22.5 / 32767.0,'f',2));
@@ -1214,7 +1219,6 @@ void MainWindow::updateUI()//事件驱动式更新数据
     case MAV_MODE_FLAG_SAFETY_ARMED:
         arm_str.append(tr("ARM"));
         menuBarUI->setFlightTime(QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长
-        //toolsui->diagram->setTime(4,QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长
         break;
     case 0:
         arm_str.append(tr("DISARM"));
@@ -1394,19 +1398,13 @@ void MainWindow::updateUI()//事件驱动式更新数据
         healthui->setColor(8,getBit(enabled,1)?(getBit(enabled,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//record
         healthui->setColor(9,getBit(enabled,2)?(HealthUI::state::success):(HealthUI::state::inital));//正在记录，未记录
         healthui->setValue(9,getBit(enabled,2)?(tr("正在写入")):(tr("停止写入")));//sel
-        //healthui->setColor(10,getBit(health,8)?(getBit(health,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//大气机
+        healthui->setColor(10,getBit(health,9)?(HealthUI::state::success):(HealthUI::state::inital));//动检完成
 
         healthui->setColor(11,getBit(health,15)?(HealthUI::state::failure):(HealthUI::state::inital));//气囊盖
         healthui->setColor(12,getBit(health,16)?(HealthUI::state::failure):(HealthUI::state::inital));//充气
         healthui->setColor(13,getBit(health,17)?(HealthUI::state::failure):(HealthUI::state::inital));//开伞
         healthui->setColor(14,getBit(health,18)?(HealthUI::state::failure):(HealthUI::state::inital));//切伞
-        healthui->setColor(15,getBit(health,20)?(HealthUI::state::failure):(HealthUI::state::inital));//点火1
+        healthui->setColor(15,((getBit(health,20) == true)&&(getBit(health,21) == true))?(HealthUI::state::failure):(((getBit(health,20) == false)&&(getBit(health,21) == false))?(HealthUI::state::inital):(HealthUI::state::warning)));//点火
-
-        //healthui->setColor(13,getBit(health,21)?(HealthUI::state::failure):(HealthUI::state::inital));//点火2
-        healthui->setColor(15,((getBit(health,20) == true)&&(getBit(health,21) == true))?(HealthUI::state::failure):(((getBit(health,20) == false)&&(getBit(health,21) == false))?(HealthUI::state::inital):(HealthUI::state::warning)));//大气机
-
-
-
 
         healthui->setColor(16,getBit(health,8)?(getBit(health,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//大气机
         healthui->setColor(18,getBit(health,22)?(HealthUI::state::success):(HealthUI::state::failure));//静压

MavLinkNode/ThreadTemplet.cpp

@@ -72,15 +72,10 @@ void ThreadTemplet::process()//线程函数
          count ++;
          QThread::msleep(1000/running_frq);
 
-
-         function();
     }
 }
 
-void ThreadTemplet::function()//在这个地方写入功能
+
-{
-
-}
 
 
 

MavLinkNode/ThreadTemplet.h

@@ -46,7 +46,7 @@ public slots:
 
 
     //缓存对外接口
-    virtual void function();
+
 
 private slots:
    //线程私有接口

MavLinkNode/rtkprocess.cpp

@@ -3,6 +3,8 @@
 rtkprocess::rtkprocess(QObject *parent) : ThreadTemplet(parent)
 {
     //初始化buff
+
+
     initbuff();
 
 }
@@ -28,28 +30,34 @@ void rtkprocess::Send(mavlink_message_t msg)
 
 //这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息
 
-void rtkprocess::function()//线程函数
+
+void rtkprocess::process()//线程函数
 {
+    uint64_t lastTime = 0;
+    QByteArray datagram = nullptr;
 
-    static uint64_t lastTime = 0;
+    uint8_t count = 0;
-    static QByteArray datagram = nullptr;
+    while (running_flag)
+    {
+         count ++;
+         QThread::msleep(1000/running_frq);
 
-     //解码从串口来的
+          //解码从串口来的
-     datagram.clear();
+          datagram.clear();
-     datagram = readbuff(SourceType::s_port);//每次全部读取
+          datagram = readbuff(SourceType::s_port);//每次全部读取
-     if(datagram.size() > 0)
+          if(datagram.size() > 0)
-     {
+          {
-          parse(SourceType::s_port,datagram);
+               parse(SourceType::s_port,datagram);
-     }
+          }
 
-     quint64 currentTimestamp = (quint64)QDateTime::currentMSecsSinceEpoch();
+          quint64 currentTimestamp = (quint64)QDateTime::currentMSecsSinceEpoch();
-
-     if((currentTimestamp - lastTime) > 66)
-     {
-         lastTime = currentTimestamp;
-         update15Hz();
-     }
 
+          if((currentTimestamp - lastTime) > 66)
+          {
+              lastTime = currentTimestamp;
+              update15Hz();
+          }
+    }
 }
 
 

MavLinkNode/rtkprocess.h

@@ -73,7 +73,7 @@ private slots:
    //解析
    void parse(quint32 src,QByteArray datagram);
 
-   void function();
+   void process();
 
 
 protected: