b

App/CommandBox/CommandBox.cpp

@@ -9,65 +9,6 @@ CommandBox::CommandBox(QWidget *parent) :
 
     this->setTop(true);
 
-    ui->comboBox_Full->addItem("基准档",0x85);
-    ui->comboBox_Full->addItem("1档",0x16);
-    ui->comboBox_Full->addItem("2档",0x26);
-    ui->comboBox_Full->addItem("3档",0x36);
-    ui->comboBox_Full->addItem("4档",0x46);
-    ui->comboBox_Full->addItem("5档",0x56);
-    ui->comboBox_Full->addItem("6档",0x66);
-    ui->comboBox_Full->addItem("7档",0x76);
-    ui->comboBox_Full->addItem("8档",0x86);
-    ui->comboBox_Full->addItem("9档",0x96);
-    ui->comboBox_Full->setCurrentIndex(0);
-
-
-    ui->comboBox_Half->addItem("基准档",0x75);
-    ui->comboBox_Half->addItem("1档",0x1c);
-    ui->comboBox_Half->addItem("2档",0x2c);
-    ui->comboBox_Half->addItem("3档",0x3c);
-    ui->comboBox_Half->addItem("4档",0x4c);
-    ui->comboBox_Half->addItem("5档",0x5c);
-    ui->comboBox_Half->addItem("6档",0x6c);
-    ui->comboBox_Half->addItem("7档",0x7c);
-    ui->comboBox_Half->addItem("8档",0x8c);
-    ui->comboBox_Half->addItem("9档",0x9c);
-    ui->comboBox_Half->setCurrentIndex(0);
-
-    ui->comboBox_rate->addItem("10000",10000);
-    ui->comboBox_rate->addItem("13700",13700);
-    ui->comboBox_rate->addItem("15000",15000);
-    ui->comboBox_rate->addItem("20000",20000);
-    ui->comboBox_rate->addItem("25000",25000);
-    ui->comboBox_rate->addItem("30000",30000);
-    ui->comboBox_rate->addItem("35000",35000);
-    ui->comboBox_rate->addItem("40000",40000);
-    ui->comboBox_rate->addItem("46000",46000);
-    ui->comboBox_rate->setEditable(true);
-    ui->comboBox_rate->setCurrentIndex(-1);
-
-
-    ui->comboBox_TestPoint->addItem("核心机主燃油泵",0x19);
-    ui->comboBox_TestPoint->addItem("加力主燃油泵",0x29);
-    ui->comboBox_TestPoint->addItem("加力点火燃油泵",0x49);
-    ui->comboBox_TestPoint->addItem("尾喷口舵机",0x79);
-    ui->comboBox_TestPoint->addItem("点火器",0x89);
-    ui->comboBox_TestPoint->addItem("起动控制1",0xb9);
-    ui->comboBox_TestPoint->addItem("起动控制2",0xd9);
-    ui->comboBox_TestPoint->addItem("核心机点火油阀",0x1a);
-    ui->comboBox_TestPoint->addItem("核心机优先油阀",0x2a);
-    ui->comboBox_TestPoint->addItem("核心机轻吹油阀",0x4a);
-    ui->comboBox_TestPoint->addItem("核心机起动气阀",0x7a);
-    ui->comboBox_TestPoint->addItem("核心机主油阀",0x8a);
-    ui->comboBox_TestPoint->addItem("加力主油阀",0xba);
-    ui->comboBox_TestPoint->addItem("加力轻吹阀",0xda);
-    ui->comboBox_TestPoint->addItem("加力点火快速阀",0xea);
-    ui->comboBox_TestPoint->addItem("手动转速控制",0xd5);
-    ui->comboBox_TestPoint->setCurrentIndex(-1);
-
-    ui->comboBox_TestValue->show();
-    ui->comboBox_TestValue->setCurrentIndex(-1);
-
 
     //use_ext_ins参数名称
     ui->comboBox_IMU->addItem("内置惯导",0);
@@ -272,72 +213,6 @@ void CommandBox::commandAccepted(bool flag,uint16_t command,uint8_t result)
 }
 
 
-void CommandBox::on_comboBox_TestPoint_currentIndexChanged(int index)
-{
-
-    switch (index) {
-    case 0:
-    case 1:
-    case 2:
-    case 3:
-    case 15:
-        ui->label_TestValue->show();
-        ui->label_TestValue->setText("转速");
-
-        ui->comboBox_TestValue->show();
-        ui->comboBox_TestValue->clear();
-        ui->comboBox_TestValue->addItem("10000",10000);
-
-        if(index == 2)
-        {
-            ui->comboBox_TestValue->addItem("13700",13700);
-        }
-
-        ui->comboBox_TestValue->addItem("15000",15000);
-        ui->comboBox_TestValue->addItem("20000",20000);
-        ui->comboBox_TestValue->addItem("25000",25000);
-        ui->comboBox_TestValue->addItem("30000",30000);
-        ui->comboBox_TestValue->addItem("35000",35000);
-        ui->comboBox_TestValue->addItem("40000",40000);
-        if(index != 3)
-        {
-            ui->comboBox_TestValue->addItem("45000",45000);
-        }
-        ui->comboBox_TestValue->setCurrentIndex(0);
-
-        break;
-
-    case 5:
-    case 6:
-    case 7:
-    case 8:
-    case 9:
-    case 10:
-    case 11:
-    case 12:
-    case 13:
-    case 14:
-        ui->label_TestValue->show();
-        ui->label_TestValue->setText("电平");
-
-        ui->comboBox_TestValue->show();
-        ui->comboBox_TestValue->clear();
-        ui->comboBox_TestValue->addItem("低电平",0);
-        ui->comboBox_TestValue->addItem("高电平",1);
-        ui->comboBox_TestValue->setEditable(true);
-        ui->comboBox_TestValue->setCurrentIndex(1);
-
-        break;
-
-    case 4:
-        ui->label_TestValue->hide();
-        ui->comboBox_TestValue->hide();
-        break;
-
-
-    }
-}
-
 //二次确认
 void CommandBox::setSecondConfirm(QVariant value)
 {
@@ -442,58 +317,6 @@ void CommandBox::on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uin
  }
 
 
-//测试指令
-void CommandBox::on_pushButton_SendTest_clicked()
-{
-    //判断 两个 内容是否是空，
-
-    float testPoint = 0;
-    float testValue = 0;
-
-    if(!ui->comboBox_TestValue->isHidden())//如果显示
-    {
-        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
-        testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();
-
-        if((ui->comboBox_TestPoint->currentIndex() != -1)&&(ui->comboBox_TestValue->currentIndex() != -1))
-        {
-            on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
-                              103,testPoint,testValue,0,0,0,0,180,0);
-        }
-        else
-        {
-            QMessageBox *box = new QMessageBox(this);
-
-            box->setWindowTitle(tr("警告"));
-            box->setText(tr("请选择测试项和测试点"));
-            box->show();
-        }
-
-    }
-    else
-    {
-        if(ui->comboBox_TestPoint->currentIndex() != -1)
-        {
-        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
-        on_commandClicked(ui->comboBox_TestPoint->currentText(),
-                              103,testPoint,0,0,0,0,0,180,0);
-        }
-        else
-        {
-            QMessageBox *box = new QMessageBox(this);
-
-            box->setWindowTitle(tr("警告"));
-            box->setText(tr("请选择测试项和测试点"));
-            box->show();
-        }
-
-    }
-
-
-
-}
-
-
 
 
 
@@ -519,74 +342,6 @@ void CommandBox::on_pushButton_Servo_Work_clicked()
 }
 
 
-void CommandBox::on_pushButton_coldrun_clicked()
-{
-    on_commandClicked(ui->pushButton_coldrun->text(),
-                      103,0x13,0,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_groundstartup_clicked()
-{
-    on_commandClicked(ui->pushButton_groundstartup->text(),
-                      103,0x15,0,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_Afterburner_off_clicked()
-{
-    on_commandClicked(ui->pushButton_Afterburner_off->text(),
-                      103,0xb5,20000,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_stop_clicked()
-{
-    on_commandClicked(ui->pushButton_stop->text(),
-                      103,0x43,0,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_EmergencyStop_clicked()
-{
-    on_commandClicked(ui->pushButton_EmergencyStop->text(),
-                      103,0x73,0,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_Afterburner_on_clicked()
-{
-    //根据档位选择
-    float Level = ui->comboBox_Full->currentData(Qt::UserRole).toFloat();
-
-    on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
-                      103,Level,46000,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_Afterburner_half_clicked()
-{
-    float Level = ui->comboBox_Half->currentData(Qt::UserRole).toFloat();
-
-    on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
-                      103,Level,46000,0,0,0,0,180,0);
-}
-
-void CommandBox::on_pushButton_setRPM_clicked()
-{
-    if(ui->comboBox_rate->currentIndex() != -1)
-    {
-        float rpm = ui->comboBox_rate->currentData(Qt::UserRole).toFloat();
-
-        on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
-                          103,0x45,rpm,0,0,0,0,180,0);
-    }
-    else
-    {
-        QMessageBox *box = new QMessageBox(this);
-
-        box->setWindowTitle(tr("警告"));
-        box->setText(tr("请设定给定转速"));
-        box->show();
-    }
-}
-
-
-
 void CommandBox::on_pushButton_IMU_clicked()
 {
     if((ui->comboBox_IMU->currentIndex() != -1)&&(ui->comboBox_sys->currentIndex() != -1))

App/CommandBox/CommandBox.h

@@ -39,9 +39,6 @@ public slots:
 
     void commandAccepted(bool flag,uint16_t command,uint8_t result);
 
-    void on_comboBox_TestPoint_currentIndexChanged(int index);
-    void on_pushButton_SendTest_clicked();
-
     void setSecondConfirm(QVariant value);
     void on_commandClicked(QString name,
                            float param1, float param2, float param3, float param4,
@@ -68,21 +65,6 @@ private slots:
 
     void on_pushButton_AirHeatOn_clicked();
 
-    void on_pushButton_coldrun_clicked();
-
-    void on_pushButton_groundstartup_clicked();
-
-    void on_pushButton_Afterburner_off_clicked();
-
-    void on_pushButton_stop_clicked();
-
-    void on_pushButton_EmergencyStop_clicked();
-
-    void on_pushButton_Afterburner_on_clicked();
-
-    void on_pushButton_Afterburner_half_clicked();
-
-    void on_pushButton_setRPM_clicked();
 
     void on_pushButton_SendCommand_clicked();
 

App/CommandBox/CommandBox.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>794</width>
+    <width>768</width>
-    <height>876</height>
+    <height>489</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -345,172 +345,87 @@
       </item>
       <item row="1" column="0">
        <layout class="QGridLayout" name="gridLayout_6">
-        <item row="0" column="0">
+        <item row="3" column="0">
-         <widget class="QGroupBox" name="groupBox">
+         <spacer name="verticalSpacer_3">
-          <property name="title">
+          <property name="orientation">
-           <string>发动机指令</string>
+           <enum>Qt::Vertical</enum>
           </property>
-          <layout class="QGridLayout" name="gridLayout">
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item row="1" column="0">
+         <widget class="QGroupBox" name="groupBox_2">
+          <property name="title">
+           <string>参数设置</string>
+          </property>
+          <layout class="QGridLayout" name="gridLayout_8">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <item row="0" column="1">
+            <widget class="QComboBox" name="comboBox_sys"/>
+           </item>
            <item row="0" column="0">
-            <widget class="QGroupBox" name="groupBox_Engine_Ctrl">
+            <widget class="QLabel" name="label_5">
-             <property name="title">
+             <property name="text">
-              <string>控制指令</string>
+              <string>无人机#</string>
              </property>
-             <property name="alignment">
+            </widget>
-              <set>Qt::AlignCenter</set>
+           </item>
+           <item row="2" column="4">
+            <widget class="QPushButton" name="pushButton_IAS_SEL_2">
+             <property name="text">
+              <string>外置大气机</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_3">
-              <property name="spacing">
-               <number>12</number>
-              </property>
-              <item row="3" column="3">
-               <widget class="QPushButton" name="pushButton_EmergencyStop">
-                <property name="text">
-                 <string>紧急停车</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="3">
-               <widget class="QPushButton" name="pushButton_stop">
-                <property name="text">
-                 <string>停车</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QPushButton" name="pushButton_coldrun">
-                <property name="text">
-                 <string>冷运转</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QPushButton" name="pushButton_Afterburner_off">
-                <property name="text">
-                 <string>关加力</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_55">
-                <property name="text">
-                 <string>全加力档</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_56">
-                <property name="text">
-                 <string>半加力档</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QPushButton" name="pushButton_Afterburner_half">
-                <property name="text">
-                 <string>半加力</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="comboBox_Full"/>
-              </item>
-              <item row="2" column="1">
-               <widget class="QComboBox" name="comboBox_Half"/>
-              </item>
-              <item row="1" column="2">
-               <widget class="QPushButton" name="pushButton_Afterburner_on">
-                <property name="text">
-                 <string>全加力</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QPushButton" name="pushButton_setRPM">
-                <property name="text">
-                 <string>给定转速</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QComboBox" name="comboBox_rate"/>
-              </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="label_57">
-                <property name="text">
-                 <string>给定转速</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="3">
-               <widget class="QPushButton" name="pushButton_groundstartup">
-                <property name="text">
-                 <string>地面起动</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
             </widget>
            </item>
            <item row="1" column="0">
-            <widget class="QGroupBox" name="groupBox_Engine_Test">
+            <widget class="QLabel" name="label_2">
-             <property name="styleSheet">
+             <property name="text">
-              <string notr="true"/>
+              <string>选择惯导</string>
              </property>
-             <property name="title">
+            </widget>
-              <string>测试指令</string>
+           </item>
+           <item row="1" column="1">
+            <widget class="QComboBox" name="comboBox_IMU"/>
+           </item>
+           <item row="1" column="2">
+            <widget class="QPushButton" name="pushButton_IMU">
+             <property name="text">
+              <string>选择</string>
              </property>
-             <property name="alignment">
+            </widget>
-              <set>Qt::AlignCenter</set>
+           </item>
+           <item row="2" column="0">
+            <widget class="QLabel" name="label_12">
+             <property name="text">
+              <string>IAS_SEL</string>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="1">
+            <widget class="QPushButton" name="pushButton_IAS_SEL_0">
+             <property name="text">
+              <string>地速算空速</string>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="2">
+            <widget class="QPushButton" name="pushButton_IAS_SEL_1">
+             <property name="text">
+              <string>内置大气机</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_4">
-              <property name="spacing">
-               <number>12</number>
-              </property>
-              <item row="0" column="1">
-               <widget class="QComboBox" name="comboBox_TestPoint"/>
-              </item>
-              <item row="1" column="3">
-               <widget class="QFrame" name="framex">
-                <property name="frameShape">
-                 <enum>QFrame::StyledPanel</enum>
-                </property>
-                <property name="frameShadow">
-                 <enum>QFrame::Raised</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QPushButton" name="pushButton_SendTest">
-                <property name="text">
-                 <string>测试</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_58">
-                <property name="text">
-                 <string>测试项</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_TestValue">
-                <property name="text">
-                 <string>测试值</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="comboBox_TestValue"/>
-              </item>
-             </layout>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
-        <item row="1" column="0">
+        <item row="0" column="0">
          <widget class="QGroupBox" name="groupBox_5">
           <property name="title">
            <string>舵机指令</string>
@@ -592,87 +507,7 @@
           </layout>
          </widget>
         </item>
-        <item row="4" column="0">
-         <spacer name="verticalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Vertical</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>20</width>
-            <height>40</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
         <item row="2" column="0">
-         <widget class="QGroupBox" name="groupBox_2">
-          <property name="title">
-           <string>参数设置</string>
-          </property>
-          <layout class="QGridLayout" name="gridLayout_8">
-           <property name="spacing">
-            <number>12</number>
-           </property>
-           <item row="0" column="1">
-            <widget class="QComboBox" name="comboBox_sys"/>
-           </item>
-           <item row="0" column="0">
-            <widget class="QLabel" name="label_5">
-             <property name="text">
-              <string>无人机#</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="4">
-            <widget class="QPushButton" name="pushButton_IAS_SEL_2">
-             <property name="text">
-              <string>外置大气机</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="0">
-            <widget class="QLabel" name="label_2">
-             <property name="text">
-              <string>选择惯导</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QComboBox" name="comboBox_IMU"/>
-           </item>
-           <item row="1" column="2">
-            <widget class="QPushButton" name="pushButton_IMU">
-             <property name="text">
-              <string>选择</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="0">
-            <widget class="QLabel" name="label_12">
-             <property name="text">
-              <string>IAS_SEL</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="1">
-            <widget class="QPushButton" name="pushButton_IAS_SEL_0">
-             <property name="text">
-              <string>地速算空速</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="2">
-            <widget class="QPushButton" name="pushButton_IAS_SEL_1">
-             <property name="text">
-              <string>内置大气机</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item row="3" column="0">
          <widget class="QGroupBox" name="groupBox_3">
           <property name="title">
            <string>油量校准</string>

MavLinkNode/mavlinknode.cpp

@@ -385,7 +385,7 @@ void MavLinkNode::stop()
         if(RC->isActive())
         {
             RC->stop();
-           delete RC;
+            delete RC;
             RC = nullptr;
         }
     }

MavLinkNode/rcprocess.cpp

@@ -50,9 +50,6 @@ void rcprocess::setID(int m_sysid,int m_compid)
 void rcprocess::Send(mavlink_message_t msg)
 {
     uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
-    //quint64 currentTimestamp = ((quint64)QDateTime::currentMSecsSinceEpoch()) * 1000;
-    //qToBigEndian(currentTimestamp, buff);
-    //uint16_t len = mavlink_msg_to_send_buffer(buff + sizeof(quint64), &msg);
     uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
     emit SendMessageTo(0,buff, len);//使用信号和槽
 }
@@ -94,21 +91,31 @@ void rcprocess::start()
 
 void rcprocess::stop()
 {
-    if(thread->isRunning())
+    if(thread)
     {
-        running_flag = false;
+        if(!thread->isFinished())
+        {
+            running_flag = false;
 
-        disconnect(thread, nullptr, nullptr, nullptr);
+            disconnect(thread, nullptr, nullptr, nullptr);
 
-        thread->quit();
-        thread->deleteLater();
 
-        thread = nullptr;
+            thread->quit();
-    }
+            thread->deleteLater();
-    else
+
-    {
+            thread = nullptr;
-        qDebug() << "thread is not running";
+
+        }
+        else
+        {
+            qDebug() << "thread is not running";
+        }
+
+        qDebug() << "thread ";
+
     }
+
+
 }
 
 //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
@@ -150,6 +157,8 @@ void rcprocess::process()//线程函数
              update15Hz();
          }
     }
+
+
 }
 
 
@@ -286,6 +295,7 @@ void rcprocess::update15Hz(void)
     {
         if ((isRCActive != 0) || rcin_cnt > 0)
         {
+            //qDebug() << "active";
             rcin_cnt--;
             mavlink_rc_channels_override_t command;
             command.chan1_raw = rcin[0];