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添加INS，添加舵机指令，修正舵机位置

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This commit is contained in:
hm
2020-10-21 19:37:48 +08:00
parent 33d0b5dcc4
commit 4db2074898
20 changed files with 1588 additions and 714 deletions
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App/ToolsUI/ServoSystem/ServoSystem.ui
+366 -342
View File
@@ -6,14 +6,74 @@
<rect>
<x>0</x>
<y>0</y>
<width>768</width>
<height>718</height>
<width>895</width>
<height>628</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="1" rowspan="3">
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>状态</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_28v">
<property name="text">
<string>28V电源</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_onBoard">
<property name="text">
<string>机载电源</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_500W">
<property name="text">
<string>500W大功率打开</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_56v">
<property name="text">
<string>56V电源</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_AirSpeed">
<property name="text">
<string>空速管加热</string>
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
@@ -35,278 +95,6 @@
<property name="bottomMargin">
<number>0</number>
</property>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>左副翼</string>
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="1" column="1">
<widget class="QLabel" name="label_ail_l_curr">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>指令位</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_LA_GBIT">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>地面自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_23">
<property name="text">
<string>当前位</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_LA_ZERO">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>找零</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_ail_l_cmd">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_LA_SBIT">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>上电自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
<string>右升降</string>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<item row="1" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>当前位</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_ele_r_curr">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_RE_ZERO">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>找零</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_ele_r_cmd">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_RE_GBIT">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>地面自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_RE_SBIT">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>上电自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>指令位</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="1">
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
@@ -603,6 +391,154 @@
</layout>
</widget>
</item>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>左副翼</string>
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="1" column="1">
<widget class="QLabel" name="label_ail_l_curr">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>指令位</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_LA_GBIT">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>地面自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_23">
<property name="text">
<string>当前位</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_LA_ZERO">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>找零</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_ail_l_cmd">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_LA_SBIT">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>上电自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
@@ -751,6 +687,154 @@
</layout>
</widget>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
<string>右升降</string>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<item row="1" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>当前位</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_ele_r_curr">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_RE_ZERO">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>找零</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_ele_r_cmd">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_RE_GBIT">
<property name="minimumSize">
<size>
<width>150</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>地面自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_RE_SBIT">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>150</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>上电自检</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>指令位</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
@@ -919,13 +1003,6 @@
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>56V剩余（%）</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_28V_percent">
<property name="minimumSize">
@@ -945,7 +1022,14 @@
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>56V剩余（%）</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="label_56V_percent">
<property name="minimumSize">
<size>
@@ -967,66 +1051,6 @@
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>状态</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_onBoard">
<property name="text">
<string>机载电源</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QCheckBox" name="checkBox_AirSpeed">
<property name="text">
<string>空速管加热</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QCheckBox" name="checkBox_56v">
<property name="text">
<string>56V电源</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_28v">
<property name="text">
<string>28V电源</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QCheckBox" name="checkBox_500W">
<property name="text">
<string>500W大功率打开</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>