添加传感器界面

App/CommandBox/CommandBox.cpp

@@ -35,6 +35,7 @@ CommandBox::CommandBox(QWidget *parent) :
     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);
@@ -225,6 +226,12 @@ void CommandBox::on_comboBox_TestPoint_currentIndexChanged(int index)
         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);

App/ComponentUI/Scope/Chart.cpp

@@ -33,6 +33,9 @@ Chart::Chart(QChart *chart, QWidget *parent)
     //默认不使用，因为使用显卡加速图形会闪
     setUseOpenGL(true);
 
+
+
+
     if(!updateTimer)
     {
        updateTimer = new QTimer(this);
@@ -281,7 +284,9 @@ void Chart::chartUpdate(void)
          QValueAxis *axis = dynamic_cast<QValueAxis*>(chart()->axisX());
          const double Min = axis->min();
          const double Max = axis->max();
-         MaxCount = (Max - Min)/(updateTimer->interval() * 0.001) * 0.96;
+         MaxCount = 0.86 * (Max - Min)/(updateTimer->interval() * 0.001);
+
+
 
           //自适应纵轴
          QList<float> yMax;

App/MenuBarUI/MenuBarUI.ui

@@ -225,15 +225,22 @@
          <property name="bottomMargin">
           <number>0</number>
          </property>
-         <item row="1" column="4">
-          <widget class="QLabel" name="label_6">
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_2">
            <property name="text">
-            <string>侧偏距</string>
+            <string>目标航点</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QLabel" name="label_10">
+           <property name="text">
+            <string>待飞距[km]</string>
            </property>
           </widget>
          </item>
          <item row="1" column="3">
-          <widget class="QLabel" name="label_TargteAlt">
+          <widget class="QLabel" name="label_wp_Dist">
            <property name="styleSheet">
             <string notr="true">background-color: rgb(189, 189, 189);</string>
            </property>
@@ -245,20 +252,6 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="1">
-          <widget class="QLabel" name="label_2">
-           <property name="text">
-            <string>目标航点</string>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="4">
-          <widget class="QLabel" name="label_10">
-           <property name="text">
-            <string>待飞距</string>
-           </property>
-          </widget>
-         </item>
          <item row="0" column="3">
           <widget class="QLabel" name="label_TargetPoint">
            <property name="styleSheet">
@@ -272,27 +265,14 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="1">
-          <widget class="QLabel" name="label_5">
+         <item row="2" column="1">
+          <widget class="QLabel" name="label_6">
            <property name="text">
-            <string>目标高度</string>
+            <string>侧偏距[m]</string>
            </property>
           </widget>
          </item>
-         <item row="0" column="5">
-          <widget class="QLabel" name="label_wp_Dist">
-           <property name="styleSheet">
-            <string notr="true">background-color: rgb(189, 189, 189);</string>
-           </property>
-           <property name="text">
-            <string>0</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="5">
+         <item row="2" column="3">
           <widget class="QLabel" name="label_X">
            <property name="styleSheet">
             <string notr="true">background-color: rgb(189, 189, 189);</string>
@@ -305,7 +285,14 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="5">
+         <item row="0" column="4">
+          <widget class="QLabel" name="label">
+           <property name="text">
+            <string>飞行时间</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="5">
           <widget class="QLabel" name="label_RecordTime">
            <property name="styleSheet">
             <string notr="true">background-color: rgb(189, 189, 189);</string>
@@ -318,15 +305,15 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="4">
-          <widget class="QLabel" name="label">
+         <item row="1" column="4">
+          <widget class="QLabel" name="label_5">
            <property name="text">
-            <string>飞行时间</string>
+            <string>目标高度</string>
            </property>
           </widget>
          </item>
-         <item row="2" column="3">
-          <widget class="QLabel" name="label_TargetAirSpeed">
+         <item row="1" column="5">
+          <widget class="QLabel" name="label_TargteAlt">
            <property name="styleSheet">
             <string notr="true">background-color: rgb(189, 189, 189);</string>
            </property>
@@ -338,13 +325,26 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="1">
+         <item row="2" column="4">
           <widget class="QLabel" name="label_9">
            <property name="text">
             <string>目标空速</string>
            </property>
           </widget>
          </item>
+         <item row="2" column="5">
+          <widget class="QLabel" name="label_TargetAirSpeed">
+           <property name="styleSheet">
+            <string notr="true">background-color: rgb(189, 189, 189);</string>
+           </property>
+           <property name="text">
+            <string>0</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
         </layout>
        </widget>
       </item>

App/ToolsUI/Diagram/Diagram.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>989</width>
-    <height>588</height>
+    <height>616</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -112,7 +112,8 @@
            <item row="4" column="3">
             <widget class="QLabel" name="label_target_pitch">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -158,7 +159,8 @@
            <item row="8" column="3">
             <widget class="QLabel" name="label_target_tas">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -293,7 +295,8 @@
            <item row="6" column="3">
             <widget class="QLabel" name="label_target_altitude">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -318,7 +321,8 @@
               </size>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -369,7 +373,8 @@
            <item row="5" column="3">
             <widget class="QLabel" name="label_target_heading">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -435,7 +440,8 @@
            <item row="2" column="2">
             <widget class="QLabel" name="label_target_LE">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -448,7 +454,8 @@
            <item row="3" column="2">
             <widget class="QLabel" name="label_target_RE">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -487,7 +494,8 @@
            <item row="6" column="2">
             <widget class="QLabel" name="label_target_RUD">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -565,7 +573,8 @@
               </size>
              </property>
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>
@@ -578,7 +587,8 @@
            <item row="1" column="2">
             <widget class="QLabel" name="label_target_RA">
              <property name="styleSheet">
-              <string notr="true">background-color: rgb(189, 189, 189);</string>
+              <string notr="true">background-color: rgb(189, 189, 189);
+color: rgb(0, 139, 139);</string>
              </property>
              <property name="text">
               <string>0</string>

App/ToolsUI/Senser/Senser.cpp

@@ -0,0 +1,252 @@
+#include "Senser.h"
+#include "ui_Senser.h"
+
+Senser::Senser(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::Senser)
+{
+    ui->setupUi(this);
+    m_parent = parent;
+
+    QFile file(":/qss/Senser.qss");
+    file.open(QFile::ReadOnly);
+    QTextStream filetext(&file);
+    QString stylesheet = filetext.readAll();
+    this->setStyleSheet(stylesheet);
+    file.close();
+
+}
+
+Senser::~Senser()
+{
+    delete ui;
+}
+
+
+void Senser::setColor(QWidget *w,state s)
+{
+    w->setProperty("state",s);
+    w->style()->unpolish(w);
+    w->style()->polish(w);
+}
+
+void Senser::setValue(QLabel *w,QString s)
+{
+    w->setText(s);
+}
+
+
+
+void Senser::resizeEvent(QResizeEvent *event)
+{
+
+
+}
+
+void Senser::closeEvent(QCloseEvent *event)
+{
+    setFloat();
+    event->ignore();
+}
+
+void Senser::setFloat(void)
+{
+    if(this->parent())
+    {
+        this->setParent(nullptr);
+        QScreen *screen=QGuiApplication::primaryScreen ();;
+        this->move((screen->availableGeometry().width()-this->width())/2,(screen->availableGeometry().height()-this->height())/2);
+        this->show();
+    }
+    else
+    {
+        this->setParent(m_parent);
+        this->move(0,0);
+        this->hide();
+        //qDebug() << m_parent->children();
+
+    }
+}
+
+
+void Senser::setINS(int source,int pos,QVariant value)
+{
+     if(source == 1)
+     {
+         switch (pos) {
+         case 1:
+             ui->label_1_svn->setText(value.toString());
+             break;
+         case 2:
+             ui->label_1_fix->setText(value.toString());
+             break;
+         case 3:
+             ui->label_1_lng->setText(value.toString());
+             break;
+         case 4:
+             ui->label_1_lat->setText(value.toString());
+             break;
+         case 5:
+             ui->label_1_alt->setText(value.toString());
+             break;
+         case 6:
+             ui->label_1_gs->setText(value.toString());
+             break;
+         case 7:
+             ui->label_1_rol->setText(value.toString());
+             break;
+         case 8:
+             ui->label_1_pit->setText(value.toString());
+             break;
+         case 9:
+             ui->label_1_yaw->setText(value.toString());
+             break;
+         case 10:
+             ui->label_1_heading->setText(value.toString());
+             break;
+         case 11:
+             ui->label_1_p->setText(value.toString());
+             break;
+         case 12:
+             ui->label_1_q->setText(value.toString());
+             break;
+         case 13:
+             ui->label_1_r->setText(value.toString());
+             break;
+         case 14:
+             ui->label_1_ax->setText(value.toString());
+             break;
+         case 15:
+             ui->label_1_ay->setText(value.toString());
+             break;
+         case 16:
+             ui->label_1_az->setText(value.toString());
+             break;
+         default:
+             break;
+         }
+     }
+     else if(source == 2)
+     {
+         switch (pos) {
+         case 1:
+             ui->label_2_svn->setText(value.toString());
+             break;
+         case 2:
+             ui->label_2_fix->setText(value.toString());
+             break;
+         case 3:
+             ui->label_2_lng->setText(value.toString());
+             break;
+         case 4:
+             ui->label_2_lat->setText(value.toString());
+             break;
+         case 5:
+             ui->label_2_alt->setText(value.toString());
+             break;
+         case 6:
+             ui->label_2_gs->setText(value.toString());
+             break;
+         case 7:
+             ui->label_2_rol->setText(value.toString());
+             break;
+         case 8:
+             ui->label_2_pit->setText(value.toString());
+             break;
+         case 9:
+             ui->label_2_yaw->setText(value.toString());
+             break;
+         case 10:
+             ui->label_2_heading->setText(value.toString());
+             break;
+         case 11:
+             ui->label_2_p->setText(value.toString());
+             break;
+         case 12:
+             ui->label_2_q->setText(value.toString());
+             break;
+         case 13:
+             ui->label_2_r->setText(value.toString());
+             break;
+         case 14:
+             ui->label_2_ax->setText(value.toString());
+             break;
+         case 15:
+             ui->label_2_ay->setText(value.toString());
+             break;
+         case 16:
+             ui->label_2_az->setText(value.toString());
+             break;
+         default:
+             break;
+         }
+     }
+}
+
+void Senser::setDAS(int source,int pos,QVariant value)
+{
+     if(source == 1)
+     {
+         switch (pos) {
+         case 1:
+             //ui->label_1_atteck->setText(value.toString());
+             break;
+         case 2:
+             //ui->label_1_slide->setText(value.toString());
+             break;
+         case 3:
+             ui->label_1_pre_alt->setText(value.toString());
+             break;
+         case 4:
+             ui->label_1_cas->setText(value.toString());
+             break;
+         case 5:
+             ui->label_1_tas->setText(value.toString());
+             break;
+         case 6:
+             ui->label_1_ma->setText(value.toString());
+             break;
+         case 7:
+             ui->label_1_dynamic->setText(value.toString());
+             break;
+         case 8:
+             ui->label_1_static->setText(value.toString());
+             break;
+         default:
+             break;
+         }
+     }
+     else if(source == 2)
+     {
+         switch (pos) {
+         case 1:
+             ui->label_2_atteck->setText(value.toString());
+             break;
+         case 2:
+             ui->label_2_slide->setText(value.toString());
+             break;
+         case 3:
+             ui->label_2_pre_alt->setText(value.toString());
+             break;
+         case 4:
+             ui->label_2_cas->setText(value.toString());
+             break;
+         case 5:
+             //ui->label_2_tas->setText(value.toString());
+             break;
+         case 6:
+             //ui->label_2_ma->setText(value.toString());
+             break;
+         case 7:
+             ui->label_2_dynamic->setText(value.toString());
+             break;
+         case 8:
+             ui->label_2_static->setText(value.toString());
+             break;
+         default:
+             break;
+         }
+     }
+}
+
+

App/ToolsUI/Senser/Senser.h

@@ -0,0 +1,56 @@
+#ifndef SENSER_H
+#define SENSER_H
+
+#include <QWidget>
+#include "QMouseEvent"
+#include "QDebug"
+#include "QAction"
+#include "QContextMenuEvent"
+#include "QMenu"
+#include "QColor"
+#include "QLabel"
+#include "mavlink.h"
+#include "QStyle"
+#include "QDebug"
+#include "QScreen"
+#include <QtGlobal>
+
+namespace Ui {
+class Senser;
+}
+
+class Senser : public QWidget
+{
+    Q_OBJECT
+
+public:
+
+    enum state{
+      success = 0,
+      failure = 1,
+      warning = 2,
+      inital = 3,
+    };
+
+    explicit Senser(QWidget *parent = nullptr);
+    ~Senser();
+
+    void setColor(QWidget *w,state s);
+    void setValue(QLabel *w,QString s);
+    void setFloat(void);
+
+    void setINS(int source,int pos,QVariant value);
+    void setDAS(int source,int pos,QVariant value);
+
+private slots:
+
+protected:
+    void resizeEvent(QResizeEvent *event);
+    void closeEvent(QCloseEvent *event);
+
+private:
+    Ui::Senser *ui;
+    QWidget *m_parent;
+};
+
+#endif // SENSER_H

App/ToolsUI/Senser/Senser.pri

@@ -0,0 +1,34 @@
+
+QT += opengl
+QT += network
+QT += sql
+QT += svg
+QT += quickwidgets
+QT += quick
+QT += qml
+
+RESOURCES += \
+    $$PWD/Senser.qrc
+
+FORMS += \
+    $$PWD/Senser.ui
+
+HEADERS += \
+    $$PWD/Senser.h
+
+SOURCES += \
+    $$PWD/Senser.cpp
+
+
+
+
+
+
+
+
+
+
+
+
+
+

App/ToolsUI/Senser/Senser.qrc

@@ -0,0 +1,12 @@
+<RCC>
+    <qresource prefix="/qss">
+        <file>Senser.qss</file>
+    </qresource>
+    <qresource prefix="/img">
+        <file>fail.png</file>
+        <file>normal.png</file>
+        <file>fail_rect.png</file>
+        <file>success_rect.png</file>
+        <file>warning_rect.png</file>
+    </qresource>
+</RCC>

App/ToolsUI/Senser/Senser.qss

@@ -0,0 +1,67 @@
+
+
+.QFrame {
+    background-color: #FFFFFF;
+}
+
+
+.QPushButton {
+    background-color: #FFFFFF  /*palegoldenrod*/;
+    border-width: 2px;
+    border-color: darkkhaki;
+    border-style: solid;
+    border-radius: 5;
+    padding: 3px;
+    font: 20px "Arial";
+}
+
+.QPushButton:pressed {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
+                                      stop: 0 #dadbde, stop: 1 #f6f7fa);
+}
+
+.QLabel {
+    font: 20px "Arial";
+}
+
+.QLabel[state="0"] {
+    border-image:url(:/img/success_rect.png);
+}
+
+.QLabel[state="1"] {
+    border-image:url(:/img/fail_rect.png);
+}
+
+.QLabel[state="2"] {
+    border-image:url(:/img/warning_rect.png);
+}
+
+.QLabel[state="3"] {
+    border-image:url(:/img/rect_gray.png);
+}
+
+
+.QComboBox {
+    background-color: #FFFFFF;
+    font: 20px "Arial";
+}
+
+.QCheckBox{
+    width: 25px;
+    height: 25px;
+}
+
+.QCheckBox::indicator {
+    width: 15px;
+    height: 15px;
+}
+
+.QCheckBox::indicator[state="0"] {
+    image:url(:/img/normal.png);
+}
+
+.QCheckBox::indicator[state="1"] {
+    image:url(:/img/fail.png);
+}
+
+

App/ToolsUI/Senser/Senser.ui

@@ -0,0 +1,910 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Senser</class>
+ <widget class="QWidget" name="Senser">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>394</width>
+    <height>516</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="6" column="1">
+    <widget class="QLabel" name="label_1_alt">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="2">
+    <widget class="QLabel" name="label_2_gs">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="2">
+    <widget class="QLabel" name="label_2_rol">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="23" column="2">
+    <widget class="QLabel" name="label_2_cas">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <widget class="QLabel" name="label_7">
+     <property name="text">
+      <string>纬度[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="22" column="1">
+    <widget class="QLabel" name="label_1_pre_alt">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="12" column="0">
+    <widget class="QLabel" name="label_11">
+     <property name="text">
+      <string>p[°/s]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="15" column="1">
+    <widget class="QLabel" name="label_1_ax">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="24" column="1">
+    <widget class="QLabel" name="label_1_tas">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="1">
+    <widget class="QLabel" name="label_1_gs">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="1">
+    <widget class="QLabel" name="label_1_rol">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="19" column="2">
+    <widget class="QLabel" name="label_78">
+     <property name="text">
+      <string>外部大气机</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="13" column="1">
+    <widget class="QLabel" name="label_1_q">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</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_2_svn">
+     <property name="minimumSize">
+      <size>
+       <width>120</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="12" column="2">
+    <widget class="QLabel" name="label_2_p">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QLabel" name="label_1_lng">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>卫星数</string>
+     </property>
+    </widget>
+   </item>
+   <item row="17" column="1">
+    <widget class="QLabel" name="label_1_az">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="21" column="1">
+    <widget class="QLabel" name="label_1_slide">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0">
+    <widget class="QLabel" name="label_8">
+     <property name="text">
+      <string>高度[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="25" column="1">
+    <widget class="QLabel" name="label_1_ma">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="26" column="2">
+    <widget class="QLabel" name="label_2_dynamic">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="14" column="0">
+    <widget class="QLabel" name="label_12">
+     <property name="text">
+      <string>r[°/s]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="12" column="1">
+    <widget class="QLabel" name="label_1_p">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="0">
+    <widget class="QLabel" name="label_9">
+     <property name="text">
+      <string>滚转角[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>内部惯导</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="17" column="2">
+    <widget class="QLabel" name="label_2_az">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QLabel" name="label_1_lat">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="16" column="2">
+    <widget class="QLabel" name="label_2_ay">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="13" column="0">
+    <widget class="QLabel" name="label_17">
+     <property name="text">
+      <string>q[°/s]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="27" column="2">
+    <widget class="QLabel" name="label_2_static">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="22" column="2">
+    <widget class="QLabel" name="label_2_pre_alt">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="11" column="1">
+    <widget class="QLabel" name="label_1_heading">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="20" column="0">
+    <widget class="QLabel" name="label_50">
+     <property name="text">
+      <string>攻角</string>
+     </property>
+    </widget>
+   </item>
+   <item row="9" column="0">
+    <widget class="QLabel" name="label_15">
+     <property name="text">
+      <string>俯仰角[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="23" column="0">
+    <widget class="QLabel" name="label_56">
+     <property name="text">
+      <string>表速</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1">
+    <widget class="QLabel" name="label_1_fix">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="26" column="1">
+    <widget class="QLabel" name="label_1_dynamic">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="9" column="2">
+    <widget class="QLabel" name="label_2_pit">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="19" column="1">
+    <widget class="QLabel" name="label_77">
+     <property name="text">
+      <string>内部传感器</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="20" column="1">
+    <widget class="QLabel" name="label_1_atteck">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="15" column="2">
+    <widget class="QLabel" name="label_2_ax">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="26" column="0">
+    <widget class="QLabel" name="label_59">
+     <property name="text">
+      <string>动压</string>
+     </property>
+    </widget>
+   </item>
+   <item row="27" column="1">
+    <widget class="QLabel" name="label_1_static">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="25" column="0">
+    <widget class="QLabel" name="label_58">
+     <property name="text">
+      <string>马赫数</string>
+     </property>
+    </widget>
+   </item>
+   <item row="9" column="1">
+    <widget class="QLabel" name="label_1_pit">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</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_3">
+     <property name="text">
+      <string>外部SBG</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="21" column="0">
+    <widget class="QLabel" name="label_54">
+     <property name="text">
+      <string>侧滑角</string>
+     </property>
+    </widget>
+   </item>
+   <item row="15" column="0">
+    <widget class="QLabel" name="label_43">
+     <property name="text">
+      <string>ax[m/s2]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_6">
+     <property name="text">
+      <string>经度[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label_14">
+     <property name="text">
+      <string>地速[m/s]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="16" column="0">
+    <widget class="QLabel" name="label_44">
+     <property name="text">
+      <string>ay[m/s2]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="16" column="1">
+    <widget class="QLabel" name="label_1_ay">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="10" column="1">
+    <widget class="QLabel" name="label_1_yaw">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="24" column="2">
+    <widget class="QLabel" name="label_2_tas">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="23" column="1">
+    <widget class="QLabel" name="label_1_cas">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="10" column="0">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>航向角[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="13" column="2">
+    <widget class="QLabel" name="label_2_q">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="2">
+    <widget class="QLabel" name="label_2_fix">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QLabel" name="label_1_svn">
+     <property name="minimumSize">
+      <size>
+       <width>120</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="21" column="2">
+    <widget class="QLabel" name="label_2_slide">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="14" column="2">
+    <widget class="QLabel" name="label_2_r">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="2">
+    <widget class="QLabel" name="label_2_alt">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="14" column="1">
+    <widget class="QLabel" name="label_1_r">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="27" column="0">
+    <widget class="QLabel" name="label_60">
+     <property name="text">
+      <string>静压</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="2">
+    <widget class="QLabel" name="label_2_lng">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0" colspan="3">
+    <widget class="QLabel" name="label_13">
+     <property name="minimumSize">
+      <size>
+       <width>300</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(0, 255, 255);</string>
+     </property>
+     <property name="text">
+      <string>传感器状态</string>
+     </property>
+    </widget>
+   </item>
+   <item row="20" column="2">
+    <widget class="QLabel" name="label_2_atteck">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="2">
+    <widget class="QLabel" name="label_2_lat">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="18" column="0" colspan="3">
+    <widget class="QLabel" name="label_46">
+     <property name="minimumSize">
+      <size>
+       <width>500</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(0, 255, 255);</string>
+     </property>
+     <property name="text">
+      <string>大气机状态</string>
+     </property>
+    </widget>
+   </item>
+   <item row="11" column="0">
+    <widget class="QLabel" name="label_16">
+     <property name="text">
+      <string>航迹角[°]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="22" column="0">
+    <widget class="QLabel" name="label_55">
+     <property name="text">
+      <string>气压高度</string>
+     </property>
+    </widget>
+   </item>
+   <item row="25" column="2">
+    <widget class="QLabel" name="label_2_ma">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="17" column="0">
+    <widget class="QLabel" name="label_45">
+     <property name="text">
+      <string>az[m/s2]</string>
+     </property>
+    </widget>
+   </item>
+   <item row="10" column="2">
+    <widget class="QLabel" name="label_2_yaw">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="11" column="2">
+    <widget class="QLabel" name="label_2_heading">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(189, 189, 189);</string>
+     </property>
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="24" column="0">
+    <widget class="QLabel" name="label_57">
+     <property name="text">
+      <string>真空速</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label_5">
+     <property name="text">
+      <string>定位状态</string>
+     </property>
+    </widget>
+   </item>
+   <item row="18" column="3">
+    <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/>
+ <connections/>
+</ui>

App/ToolsUI/ToolsUI.cpp

@@ -29,6 +29,7 @@ ToolsUI::ToolsUI(QWidget *parent) :
     ui->pushButton_ShowExtern->setFixedSize(w,h);
     ui->pushButton_CommandBox->setFixedSize(w,h);
     ui->pushButton_Diagram->setFixedSize(w,h);
+    ui->pushButton_Senser->setFixedSize(w,h);
 
 
 
@@ -60,6 +61,10 @@ ToolsUI::ToolsUI(QWidget *parent) :
     diagram = new Diagram(ui->frame);
     diagram->hide();
 
+
+    senser = new Senser(ui->frame);
+    senser->hide();
+
     //connect(index4,SIGNAL(destroyed(QObject*)))
 
     connect(this,SIGNAL(IndexChanged(int)),
@@ -95,6 +100,9 @@ ToolsUI::ToolsUI(QWidget *parent) :
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
 }
 
 ToolsUI::~ToolsUI()
@@ -145,6 +153,8 @@ void ToolsUI::resizeEvent(QResizeEvent *event)
 
     diagram->setGeometry(0,0,ui->frame->geometry().width(),ui->frame->geometry().height());
 
+    senser->setGeometry(0,0,ui->frame->geometry().width(),ui->frame->geometry().height());
+
     update();
 }
 
@@ -313,6 +323,23 @@ void ToolsUI::onTabIndexChanged(const int &index)//界面选择管理
         diagram->hide();
     }
 
+    if(index == 9)
+    {
+        if(senser->parent())
+        {
+            senser->show();
+        }
+        else
+        {
+            senser->showNormal();
+            senser->activateWindow();
+        }
+    }
+    else {
+        if(senser->parent())
+        senser->hide();
+    }
+
 }
 
 
@@ -347,6 +374,9 @@ void ToolsUI::on_pushButton_Inspector_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -381,6 +411,9 @@ void ToolsUI::on_pushButton_Log_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -415,6 +448,9 @@ void ToolsUI::on_pushButton_Replay_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -449,6 +485,9 @@ void ToolsUI::on_pushButton_Console_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -484,6 +523,9 @@ void ToolsUI::on_pushButton_Servos_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -518,6 +560,9 @@ void ToolsUI::on_PowerSystem_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -552,6 +597,9 @@ void ToolsUI::on_ServoSystem_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -586,6 +634,9 @@ void ToolsUI::on_pushButton_CommandBox_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::unSelected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -621,6 +672,9 @@ void ToolsUI::on_pushButton_Diagram_clicked()
     setPushButtonState(ui->pushButton_Diagram,
                        state::Selected);
 
+    setPushButtonState(ui->pushButton_Senser,
+                       state::unSelected);
+
     emit IndexChanged(CurrentIndex);
 }
 
@@ -655,10 +709,46 @@ void ToolsUI::on_pushButton_ShowExtern_clicked()
     case 8:
         diagram->setFloat();
         break;
-
-
-
+    case 9:
+        senser->setFloat();
+        break;
     }
 }
 
+void ToolsUI::on_pushButton_Senser_clicked()
+{
+    CurrentIndex = 9;
 
+    setPushButtonState(ui->pushButton_Inspector,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_Log,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_Replay,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_Console,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_Servos,
+                       state::unSelected);
+
+    setPushButtonState(ui->PowerSystem,
+                       state::unSelected);
+
+    setPushButtonState(ui->ServoSystem,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_CommandBox,
+                       state::unSelected);
+
+
+    setPushButtonState(ui->pushButton_Diagram,
+                       state::unSelected);
+
+    setPushButtonState(ui->pushButton_Senser,
+                       state::Selected);
+
+    emit IndexChanged(CurrentIndex);
+}

App/ToolsUI/ToolsUI.h

@@ -16,6 +16,7 @@
 #include "CommandUI/CommandUI.h"
 #include "CommandBox/CommandBox.h"
 #include "Diagram/Diagram.h"
+#include "Senser/Senser.h"
 
 namespace Ui {
 class ToolsUI;
@@ -52,6 +53,8 @@ public:
 
     Diagram *diagram = nullptr;
 
+    Senser *senser = nullptr;
+
 private slots:
     void setPushButtonState(QWidget *w,state s);
     void onTabIndexChanged(const int &index);
@@ -78,6 +81,8 @@ private slots:
 
     void on_pushButton_Diagram_clicked();
 
+    void on_pushButton_Senser_clicked();
+
 signals:
    void IndexChanged(const int &index);
 

App/ToolsUI/ToolsUI.pri

@@ -16,6 +16,7 @@ include (./tools_Index4/tools_Index4.pri)
 include (./PowerSystem/PowerSystem.pri)
 include (./ServoSystem/ServoSystem.pri)
 include (./Diagram/Diagram.pri)
+include (./Senser/Senser.pri)
 
 
 INCLUDEPATH += $$PWD/tools_Index0 \

App/ToolsUI/ToolsUI.ui

@@ -23,80 +23,6 @@
    </item>
    <item row="0" column="0">
     <layout class="QGridLayout" name="gridLayout">
-     <item row="2" column="0">
-      <widget class="QPushButton" name="pushButton_Replay">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>Replay</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="0">
-      <widget class="QPushButton" name="pushButton_Console">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>Console</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="0">
-      <widget class="QPushButton" name="PowerSystem">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>PowerSystem</string>
-       </property>
-      </widget>
-     </item>
-     <item row="9" column="0">
-      <spacer name="verticalSpacer">
-       <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="10" column="0">
-      <widget class="QPushButton" name="pushButton_ShowExtern">
-       <property name="styleSheet">
-        <string notr="true">background-color: rgb(107, 255, 246);</string>
-       </property>
-       <property name="text">
-        <string>弹出右侧窗口-&gt;</string>
-       </property>
-      </widget>
-     </item>
      <item row="6" column="0">
       <widget class="QPushButton" name="ServoSystem">
        <property name="minimumSize">
@@ -110,6 +36,26 @@
        </property>
       </widget>
      </item>
+     <item row="4" column="0">
+      <widget class="QPushButton" name="pushButton_Servos">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Servos</string>
+       </property>
+      </widget>
+     </item>
+     <item row="8" column="0">
+      <widget class="QPushButton" name="pushButton_Diagram">
+       <property name="text">
+        <string>Diagram</string>
+       </property>
+      </widget>
+     </item>
      <item row="1" column="0">
       <widget class="QPushButton" name="pushButton_Log">
        <property name="minimumSize">
@@ -129,29 +75,32 @@
        </property>
       </widget>
      </item>
-     <item row="4" column="0">
-      <widget class="QPushButton" name="pushButton_Servos">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
+     <item row="11" column="0">
+      <widget class="QPushButton" name="pushButton_ShowExtern">
+       <property name="styleSheet">
+        <string notr="true">background-color: rgb(107, 255, 246);</string>
        </property>
        <property name="text">
-        <string>Servos</string>
+        <string>弹出右侧窗口-&gt;</string>
        </property>
       </widget>
      </item>
-     <item row="7" column="0">
-      <widget class="QPushButton" name="pushButton_CommandBox">
+     <item row="2" column="0">
+      <widget class="QPushButton" name="pushButton_Replay">
        <property name="minimumSize">
         <size>
          <width>0</width>
          <height>0</height>
         </size>
        </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
        <property name="text">
-        <string>CommandBox</string>
+        <string>Replay</string>
        </property>
       </widget>
      </item>
@@ -174,10 +123,68 @@
        </property>
       </widget>
      </item>
-     <item row="8" column="0">
-      <widget class="QPushButton" name="pushButton_Diagram">
+     <item row="5" column="0">
+      <widget class="QPushButton" name="PowerSystem">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
        <property name="text">
-        <string>Diagram</string>
+        <string>PowerSystem</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QPushButton" name="pushButton_Console">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Console</string>
+       </property>
+      </widget>
+     </item>
+     <item row="7" column="0">
+      <widget class="QPushButton" name="pushButton_CommandBox">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>CommandBox</string>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="0">
+      <spacer name="verticalSpacer">
+       <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="9" column="0">
+      <widget class="QPushButton" name="pushButton_Senser">
+       <property name="text">
+        <string>Senser</string>
        </property>
       </widget>
      </item>

App/mainwindow.cpp

@@ -1083,7 +1083,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
     menuBarUI->setX(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error);
 
-    menuBarUI->setwp_Dist(dlink->mavlinknode->vehicle.nav_controller_output.wp_dist);
+    menuBarUI->setwp_Dist(dlink->mavlinknode->vehicle.nav_controller_output.wp_dist * 0.001);
 
     menuBarUI->setTagetAirspeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed
                                +dlink->mavlinknode->vehicle.nav_controller_output.aspd_error);
@@ -1651,6 +1651,67 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
 
 
+
+
+    toolsui->senser->setINS(1,1,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible));
+    toolsui->senser->setINS(1,2,gpsFix1);
+    toolsui->senser->setINS(1,3,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
+    toolsui->senser->setINS(1,4,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
+    toolsui->senser->setINS(1,5,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
+    toolsui->senser->setINS(1,6,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins1.v_north,2) +
+                                                     pow(dlink->mavlinknode->vehicle.ins1.v_east,2) +
+                                                     pow(dlink->mavlinknode->vehicle.ins1.v_up,2)),'f',1));
+    toolsui->senser->setINS(1,7,QString::number(dlink->mavlinknode->vehicle.ins1.roll,'f',1));
+    toolsui->senser->setINS(1,8,QString::number(dlink->mavlinknode->vehicle.ins1.pitch,'f',1));
+    toolsui->senser->setINS(1,9,QString::number(dlink->mavlinknode->vehicle.ins1.yaw,'f',1));
+    toolsui->senser->setINS(1,10,QString::number(to360deg(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
+                                                                dlink->mavlinknode->vehicle.ins1.v_north) * 57.3),'f',1));
+    toolsui->senser->setINS(1,11,QString::number(dlink->mavlinknode->vehicle.ins1.gx,'f',1));
+    toolsui->senser->setINS(1,12,QString::number(dlink->mavlinknode->vehicle.ins1.gy,'f',1));
+    toolsui->senser->setINS(1,13,QString::number(dlink->mavlinknode->vehicle.ins1.gz,'f',1));
+    toolsui->senser->setINS(1,14,QString::number(dlink->mavlinknode->vehicle.ins1.ax,'f',1));
+    toolsui->senser->setINS(1,15,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1));
+    toolsui->senser->setINS(1,16,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1));
+
+
+
+    toolsui->senser->setINS(2,1,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible));
+    toolsui->senser->setINS(2,2,gpsFix2);
+    toolsui->senser->setINS(2,3,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
+    toolsui->senser->setINS(2,4,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
+    toolsui->senser->setINS(2,5,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
+    toolsui->senser->setINS(2,6,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins2.v_north,2) +
+                                                     pow(dlink->mavlinknode->vehicle.ins2.v_east,2) +
+                                                     pow(dlink->mavlinknode->vehicle.ins2.v_up,2)),'f',1));
+    toolsui->senser->setINS(2,7,QString::number(dlink->mavlinknode->vehicle.ins2.roll,'f',1));
+    toolsui->senser->setINS(2,8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch,'f',1));
+    toolsui->senser->setINS(2,9,QString::number(dlink->mavlinknode->vehicle.ins2.yaw,'f',1));
+    toolsui->senser->setINS(2,10,QString::number(to360deg(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
+                                                                dlink->mavlinknode->vehicle.ins2.v_north) * 57.3),'f',1));
+    toolsui->senser->setINS(2,11,QString::number(dlink->mavlinknode->vehicle.ins2.gx,'f',1));
+    toolsui->senser->setINS(2,12,QString::number(dlink->mavlinknode->vehicle.ins2.gy,'f',1));
+    toolsui->senser->setINS(2,13,QString::number(dlink->mavlinknode->vehicle.ins2.gz,'f',1));
+    toolsui->senser->setINS(2,14,QString::number(dlink->mavlinknode->vehicle.ins2.ax,'f',1));
+    toolsui->senser->setINS(2,15,QString::number(dlink->mavlinknode->vehicle.ins2.ay,'f',1));
+    toolsui->senser->setINS(2,16,QString::number(dlink->mavlinknode->vehicle.ins2.az,'f',1));
+
+
+
+    //toolsui->senser->setDAS(1,3,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.));
+    toolsui->senser->setDAS(1,4,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1));
+    toolsui->senser->setDAS(1,5,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed,'f',1));
+    toolsui->senser->setDAS(1,6,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.mach,'f',3));
+    toolsui->senser->setDAS(1,7,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.qbar * 0.01,'f',3));
+    toolsui->senser->setDAS(1,8,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.ps * 0.01,'f',3));
+
+    toolsui->senser->setDAS(2,1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1));
+    toolsui->senser->setDAS(2,2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1));
+    //toolsui->senser->setDAS(2,3,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.));
+    toolsui->senser->setDAS(2,4,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1));
+    toolsui->senser->setDAS(2,7,QString::number(dlink->mavlinknode->vehicle.scaled_pressure.press_diff,'f',3));
+    toolsui->senser->setDAS(2,8,QString::number(dlink->mavlinknode->vehicle.scaled_pressure.press_abs,'f',3));
+
+
 }
 
 void MainWindow::Timer_1s_out(void)