修正姿态显示和指令发送
This commit is contained in:
@@ -1,13 +1,18 @@
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{
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"comment": "Any Firmware, Any Vehicle",
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"comment": "Custom",
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"version": 1,
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"spacing" : 10,
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"Width": 80,
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"Height": 60,
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"CommandButton": [
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{
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"Name" : "关机",
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"Text" : "关机",
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"row": 0,
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"column": 0,
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"command": 400,
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"confirm": 0,
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"param1": 1,
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"param2": 2,
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"param3": 3,
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@@ -17,9 +22,25 @@
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"param7": 7
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},
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{
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"Name" : "起飞",
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"Text" : "降落",
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"row": 0,
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"column": 1,
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"command": 900,
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"confirm": 0,
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"param1": 7,
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"param2": 6,
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"param3": 5,
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"param4": 4,
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"param5": 3,
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"param6": 2,
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"param7": 1
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},
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{
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"Text" : "起飞",
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"row": 1,
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"column": 1,
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"command": 900,
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"confirm": 0,
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"param1": 7,
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"param2": 6,
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"param3": 5,
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+22
-16
@@ -6,10 +6,14 @@ const char* CommandUI::_versionJsonKey = "version";
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const char* CommandUI::_commentJsonKey = "comment";
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const char* CommandUI::_CommandButtonJsonKey = "CommandButton";
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const char* CommandUI::_NameJsonKey = "Name";
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const char* CommandUI::_WidthJsonKey = "Width";
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const char* CommandUI::_HeightJsonKey = "Height";
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const char* CommandUI::_TextJsonKey = "Text";
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const char* CommandUI::_rowJsonKey = "row";
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const char* CommandUI::_columnJsonKey = "column";
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const char* CommandUI::_param1JsonKey = "param1";
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const char* CommandUI::_param2JsonKey = "param2";
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const char* CommandUI::_param3JsonKey = "param3";
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@@ -17,8 +21,8 @@ const char* CommandUI::_param4JsonKey = "param4";
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const char* CommandUI::_param5JsonKey = "param5";
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const char* CommandUI::_param6JsonKey = "param6";
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const char* CommandUI::_param7JsonKey = "param7";
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const char* CommandUI::_commandJsonKey = "command";
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const char* CommandUI::_confirmJsonKey = "confirm";
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@@ -41,6 +45,8 @@ CommandUI::CommandUI(QWidget *parent) :
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//载入json
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loadCommandJson(":/json/Command.json");
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ui->groupBox_Command->setTitle(tr("Command Version:") + QString::number(CMD_version));
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for(QJsonValue info: CMD_infoArray) {
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if (!info.isObject()) {
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return;
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@@ -48,15 +54,9 @@ CommandUI::CommandUI(QWidget *parent) :
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QPushButton *btn = new QPushButton(ui->groupBox_Command);
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btn->setText(info.toObject().find(_NameJsonKey).value().toString());
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btn->setText(info.toObject().find(_TextJsonKey).value().toString());
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btn->setFixedSize(60,60);
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/*
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btn->setGeometry(10 + info.toObject().find(_rowJsonKey).value().toInt() * 70,
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10 + info.toObject().find(_columnJsonKey).value().toInt() * 70,
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60,60);
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*/
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btn->setFixedSize(CMDwidth,CMDheight);
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ui->gridLayout_Command->addWidget(btn,
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info.toObject().find(_rowJsonKey).value().toInt(),
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@@ -104,8 +104,8 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
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}
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QJsonObject json = doc.object();
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int version = json.value(_versionJsonKey).toInt();
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qDebug() << "command version :" << version;
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CMD_version = json.value(_versionJsonKey).toInt();
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qDebug() << "command version :" << CMD_version;
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/*
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if (version != 1) {
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@@ -114,6 +114,8 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
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}
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*/
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CMDwidth = json.value(_WidthJsonKey).toInt();
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CMDheight = json.value(_HeightJsonKey).toInt();
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QJsonValue jsonValue = json.value(_CommandButtonJsonKey);
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@@ -148,7 +150,7 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
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//找到id或者名字一样的按键，找到参数，发出去
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QString _name = info.toObject().find(_NameJsonKey).value().toString();
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QString _name = info.toObject().find(_TextJsonKey).value().toString();
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QString _text = btn->text();
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if(_name == _text)
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@@ -160,9 +162,11 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
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float param5 = info.toObject().find(_param5JsonKey).value().toDouble();
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float param6 = info.toObject().find(_param6JsonKey).value().toDouble();
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float param7 = info.toObject().find(_param7JsonKey).value().toDouble();
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uint16_t command = info.toObject().find(_commandJsonKey).value().toInt();
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uint8_t confirm = info.toObject().find(_confirmJsonKey).value().toInt();
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emit cmd_long(param1,param2, param3,param4,param5,param6,param7);
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emit cmd_long(param1,param2, param3,param4,param5,param6,param7,command,confirm);
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qDebug() << tr("clicked") << btn->text()
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<< param1
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@@ -171,7 +175,9 @@ void CommandUI::loadCommandJson(const QString& jsonFilename)
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<< param4
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<< param5
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<< param6
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<< param7;
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<< param7
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<< command
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<< confirm;
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}
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}
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@@ -29,7 +29,7 @@ public:
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signals:
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void cmd_int(float param1, float param2, float param3, float param4, int x, int y, float z);
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void cmd_long(float param1, float param2, float param3, float param4, float param5, float param6, float param7);
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void cmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
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private slots:
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@@ -47,10 +47,14 @@ private:
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static const char* _commentJsonKey;
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static const char* _CommandButtonJsonKey;
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static const char* _NameJsonKey;
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static const char* _WidthJsonKey;
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static const char* _HeightJsonKey;
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static const char* _TextJsonKey;
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static const char* _rowJsonKey;
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static const char* _columnJsonKey;
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static const char* _param1JsonKey;
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static const char* _param2JsonKey;
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static const char* _param3JsonKey;
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@@ -58,13 +62,15 @@ private:
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static const char* _param5JsonKey;
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static const char* _param6JsonKey;
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static const char* _param7JsonKey;
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static const char* _commandJsonKey;
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static const char* _confirmJsonKey;
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QJsonArray CMD_infoArray;
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int CMDwidth = 60;
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int CMDheight = 60;
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int CMD_version;
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@@ -12,12 +12,10 @@ FORMS += \
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$$PWD/CommandUI.ui \
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HEADERS += \
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$$PWD/CommandUI.h \
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$$PWD/commandmsg.h
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$$PWD/CommandUI.h
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SOURCES += \
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$$PWD/CommandUI.cpp \
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$$PWD/commandmsg.cpp
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$$PWD/CommandUI.cpp
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RESOURCES += \
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$$PWD/CommandUIres.qrc
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+4
-6
@@ -21,8 +21,6 @@ MainWindow::MainWindow(QWidget *parent)
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setFocusPolicy(Qt::StrongFocus);
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setAttribute(Qt::WA_AcceptTouchEvents);
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//ui initial
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//menubar
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@@ -107,8 +105,8 @@ MainWindow::MainWindow(QWidget *parent)
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//command ----- dlink
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connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float)));
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connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
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dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);
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//setting ----- dlink
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@@ -552,8 +550,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
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dlink->mavlinknode->vehicle.attitude.roll * 57.3,
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dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
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copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
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copk->setAirSpeed(dlink->mavlinknode->vehicle.airspeed_autocal.vx);
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//copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
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//copk->setAirSpeed(dlink->mavlinknode->vehicle.airspeed_autocal.vx);
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internals::PointLatLng LatLng;
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+164
-34
@@ -9,10 +9,6 @@
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Cockpit::Cockpit(QWidget *parent): QWidget(parent)
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{
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// setMouseTracking(true);
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//leftladder = new LeftLadder(this);
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//颜色初始化
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m_Color.NormalColor = QColor("#00FF00");
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m_Color.NoticeColor = QColor("#FF8C00");
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@@ -47,25 +43,26 @@ Cockpit::Cockpit(QWidget *parent): QWidget(parent)
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m_State.AOA = 0;
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m_State.altitude = 0;
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m_State.height = 0;
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m_State.airspeed = 0;//空速
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m_State.AirspeedFlag = 2;//i c t
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m_State.horizontalspeed = 0;//侧滑速度
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m_State.verticalspeed = 0;//爬升速度
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m_Target.airspeed_maximun = 25;
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m_Target.airspeed_minimun = 15;
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m_SPD_HOLD = "MCP SPD";
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m_HDG_HOLD = "HDG SEL";
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m_ALT_HOLD = "ALT HOLD";
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m_State.GPS = "GPS";
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m_State.MODE = "MODE";
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m_State.STATE = "ARM";
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//初始化完成后打开定时器开始计数刷新
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UpdateTimer = new QTimer;
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connect(UpdateTimer,SIGNAL(timeout()),
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this,SLOT(UpdateTimeout()));
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UpdateTimer->start(50);//50Hz
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}
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@@ -118,12 +115,8 @@ void Cockpit::wheelEvent(QWheelEvent *e)
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void Cockpit::setPitch(double Pitch)
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{
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#ifdef __MINGW32__
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#else
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if(isnan(Pitch))
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{
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@@ -131,6 +124,8 @@ void Cockpit::setPitch(double Pitch)
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}
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#endif
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if(Pitch > 360) Pitch = 360;
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else if(Pitch < -360) Pitch = -360;
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int n = Pitch/360;
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Pitch = Pitch - n*360;
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@@ -146,6 +141,35 @@ void Cockpit::setPitch(double Pitch)
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m_State.isUpdate = true;
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}
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void Cockpit::setPitchTarget(double Pitch)
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{
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#ifdef __MINGW32__
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#else
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if(isnan(Pitch))
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{
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return;
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}
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#endif
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if(Pitch > 360) Pitch = 360;
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else if(Pitch < -360) Pitch = -360;
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int n = Pitch/360;
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Pitch = Pitch - n*360;
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m_Target.pitch = Pitch;
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if(m_Target.pitch < -90)
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{
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m_Target.pitch += 180;
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}
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else if(m_Target.pitch > 90)
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{
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m_Target.pitch -= 180;
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}
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m_Target.isUpdate = true;
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}
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void Cockpit::setRoll(double Roll)
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{
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#ifdef __MINGW32__
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@@ -157,6 +181,9 @@ void Cockpit::setRoll(double Roll)
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return;
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}
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#endif
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if(Roll > 360) Roll = 360;
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else if(Roll < -360) Roll = -360;
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int n = Roll/360;
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Roll = Roll - n*360;
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m_State.roll = Roll;
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@@ -171,6 +198,35 @@ void Cockpit::setRoll(double Roll)
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m_State.isUpdate = true;
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}
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void Cockpit::setRollTarget(double Roll)
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{
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#ifdef __MINGW32__
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#else
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if(isnan(Roll))
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{
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return;
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}
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#endif
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if(Roll > 360) Roll = 360;
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else if(Roll < -360) Roll = -360;
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int n = Roll/360;
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Roll = Roll - n*360;
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m_Target.roll = Roll;
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if(m_Target.roll < -180)
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{
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m_Target.roll += 360;
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}
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else if(m_Target.roll > 180)
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{
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m_Target.roll -= 360;
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}
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m_Target.isUpdate = true;
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}
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void Cockpit::setYaw(double Yaw)
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{
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#ifdef __MINGW32__
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@@ -192,6 +248,28 @@ void Cockpit::setYaw(double Yaw)
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m_State.isUpdate = true;
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}
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void Cockpit::setYawTarget(double Yaw)
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{
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#ifdef __MINGW32__
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#else
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if(isnan(Yaw))
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{
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return;
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}
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#endif
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int n = Yaw/360;
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Yaw = Yaw - n*360;
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m_Target.yaw = Yaw;
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if(m_Target.yaw < 0)
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{
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m_Target.yaw += 360;
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}
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m_Target.isUpdate = true;
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}
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void Cockpit::setAttitude(double Pitch,double Roll,double Yaw)
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{
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@@ -200,28 +278,93 @@ void Cockpit::setAttitude(double Pitch,double Roll,double Yaw)
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setYaw(Yaw);
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}
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void Cockpit::setAttitudeTarget(double Pitch,double Roll,double Yaw)
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{
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setPitchTarget(Pitch);
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setRollTarget(Roll);
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setYawTarget(Yaw);
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}
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void Cockpit::setAttitudeSpeed(double PitchSpeed,double RollSpeed,double YawSpeed)
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{
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m_State.gy = PitchSpeed;
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m_State.gx = RollSpeed;
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m_State.gz = YawSpeed;
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m_State.isUpdate = true;
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}
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void Cockpit::setAltitude(double Altitude)
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{
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if(Altitude > 99999) Altitude = 99999;
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else if(Altitude < (-9999)) Altitude = -9999;
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m_State.altitude = Altitude;
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m_State.isUpdate = true;
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}
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void Cockpit::setAltitudeTarget(double Altitude)
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{
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if(Altitude > 99999) Altitude = 99999;
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else if(Altitude < (-9999)) Altitude = -9999;
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m_Target.altitude = Altitude;
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m_Target.isUpdate = true;
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}
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void Cockpit::setAirSpeed(double speed)
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{
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if(speed < 0) speed = 0;
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m_State.airspeed = speed;
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m_State.isUpdate = true;
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}
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void Cockpit::setAirSpeedTarget(double speed)
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{
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if(speed < 0) speed = 0;
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m_Target.airspeed = speed;
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m_Target.isUpdate = true;
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}
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void Cockpit::setVerticalSpeed(double speed)
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{
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m_State.verticalspeed = speed;
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m_State.isUpdate = true;
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}
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void Cockpit::setVerticalSpeedTarget(double speed)
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{
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m_Target.verticalspeed = speed;
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m_Target.isUpdate = true;
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}
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void Cockpit::setGPS(QString str)
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{
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m_State.GPS = str;
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}
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void Cockpit::setMode(QString str)
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{
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m_State.MODE = str;
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}
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void Cockpit::setState(QString str)
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{
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m_State.STATE = str;
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}
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void Cockpit::setAOA(qreal Value)
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{
|
||||
m_State.AOA = Value;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Cockpit::setLed(QColor LED)
|
||||
{
|
||||
m_Color.LedColor = LED;
|
||||
@@ -367,7 +510,7 @@ void Cockpit::drawPitch(QPainter *painter)
|
||||
|
||||
//qDebug() << "tar_y" << tar_y;
|
||||
|
||||
tar_y = (tar_y > 475)?(475):((tar_y<-525)?(-525):(tar_y));
|
||||
tar_y = (tar_y > 475)?(475):((tar_y<-475)?(-475):(tar_y));
|
||||
|
||||
painter->translate(0,tar_y);
|
||||
|
||||
@@ -1629,29 +1772,16 @@ void Cockpit::drawTopStatuts(QPainter *painter)
|
||||
|
||||
//画大字
|
||||
ePen.setColor(m_Color.StatusColor);
|
||||
ePen.setWidth(10);
|
||||
font.setPointSize(50);
|
||||
ePen.setWidth(12);
|
||||
font.setPointSize(60);
|
||||
font.setFamily("Arial");//非衬线
|
||||
|
||||
painter->setPen(ePen);
|
||||
painter->setFont(font);
|
||||
|
||||
painter->drawText(QRect(-530,10,320,80),Qt::AlignCenter,m_SPD_HOLD);
|
||||
painter->drawText(QRect(-160,10,320,80),Qt::AlignCenter,m_HDG_HOLD);
|
||||
painter->drawText(QRect( 210,10,320,80),Qt::AlignCenter,m_ALT_HOLD);
|
||||
|
||||
//画小字
|
||||
ePen.setColor(m_Color.CentreLineColor);
|
||||
ePen.setWidth(5);
|
||||
font.setPointSize(30);
|
||||
|
||||
painter->setPen(ePen);
|
||||
painter->setFont(font);
|
||||
|
||||
painter->drawText(QRect(-530,100,320,50),Qt::AlignCenter,m_SPD_HOLD);
|
||||
painter->drawText(QRect(-160,100,320,50),Qt::AlignCenter,m_HDG_HOLD);
|
||||
painter->drawText(QRect( 210,100,320,50),Qt::AlignCenter,m_ALT_HOLD);
|
||||
|
||||
painter->drawText(QRect(-530,0,320,150),Qt::AlignCenter,m_State.GPS);
|
||||
painter->drawText(QRect(-160,0,320,150),Qt::AlignCenter,m_State.MODE);
|
||||
painter->drawText(QRect( 210,0,320,150),Qt::AlignCenter,m_State.STATE);
|
||||
|
||||
painter->restore();//画状态结束
|
||||
|
||||
|
||||
+27
-15
@@ -4,8 +4,6 @@
|
||||
#include <QWidget>
|
||||
#include <QMouseEvent>
|
||||
|
||||
#include "leftladder.h"
|
||||
|
||||
#include "QTimer"
|
||||
|
||||
|
||||
@@ -48,6 +46,12 @@ typedef struct {
|
||||
}_color;
|
||||
|
||||
typedef struct {
|
||||
|
||||
QString GPS;
|
||||
QString MODE;
|
||||
QString STATE;
|
||||
|
||||
|
||||
qreal ax;
|
||||
qreal ay;
|
||||
qreal az;
|
||||
@@ -87,6 +91,7 @@ typedef struct {
|
||||
|
||||
|
||||
typedef struct{
|
||||
|
||||
qreal pitch;
|
||||
qreal roll;
|
||||
qreal yaw;
|
||||
@@ -103,6 +108,8 @@ typedef struct{
|
||||
|
||||
qreal verticalspeed;//纵向速度
|
||||
|
||||
bool isUpdate;
|
||||
|
||||
}_target;
|
||||
|
||||
|
||||
@@ -120,12 +127,26 @@ public Q_SLOTS:
|
||||
void setAttitude(qreal Pitch,qreal Roll,qreal Yaw);
|
||||
void setAttitudeSpeed(qreal PitchSpeed,qreal RollSpeed,qreal YawSpeed);
|
||||
|
||||
void setPitchTarget(qreal Pitch);
|
||||
void setRollTarget(qreal Roll);
|
||||
void setYawTarget(qreal Yaw);
|
||||
void setAttitudeTarget(qreal Pitch,qreal Roll,qreal Yaw);
|
||||
|
||||
void setAltitude(qreal Altitude);
|
||||
void setAltitudeTarget(double Altitude);
|
||||
|
||||
void setAirSpeed(qreal speed);
|
||||
void setAirSpeedTarget(double speed);
|
||||
|
||||
void setVerticalSpeed(double speed);
|
||||
void setVerticalSpeedTarget(double speed);
|
||||
|
||||
void setLed(QColor LED);
|
||||
|
||||
|
||||
void setGPS(QString str);
|
||||
void setMode(QString str);
|
||||
void setState(QString str);
|
||||
void setAOA(qreal Value);
|
||||
protected:
|
||||
|
||||
|
||||
@@ -164,9 +185,9 @@ private:
|
||||
|
||||
QString m_mode;//显示模式
|
||||
|
||||
QString m_SPD_HOLD;
|
||||
QString m_HDG_HOLD;
|
||||
QString m_ALT_HOLD;
|
||||
QString m_GPS;
|
||||
QString m_MODE;
|
||||
QString m_STATE;
|
||||
|
||||
double m_PitchValue;
|
||||
double m_RollValue;
|
||||
@@ -248,15 +269,6 @@ private:
|
||||
QPoint m_c;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
LeftLadder *leftladder;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
+2
-4
@@ -46,12 +46,10 @@ DEFINES += QT_DEPRECATED_WARNINGS
|
||||
|
||||
HEADERS += \
|
||||
$$PWD/Cockpit.h \
|
||||
cockpitglobal.h \
|
||||
leftladder.h
|
||||
cockpitglobal.h
|
||||
|
||||
SOURCES += \
|
||||
$$PWD/Cockpit.cpp \
|
||||
leftladder.cpp
|
||||
$$PWD/Cockpit.cpp
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -4,10 +4,6 @@ TEMPLATE = subdirs
|
||||
|
||||
CONFIG += ordered
|
||||
|
||||
|
||||
|
||||
#SUBDIRS += SerialPortDialog
|
||||
#SUBDIRS += ClientLinkDialog
|
||||
SUBDIRS += Skin
|
||||
SUBDIRS += opmap
|
||||
SUBDIRS += qNavigationWidget
|
||||
|
||||
@@ -93,7 +93,7 @@ void commandprocess::SendMessage(mavlink_message_t msg)
|
||||
}
|
||||
|
||||
//发送函数
|
||||
void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
|
||||
void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
|
||||
float param1,
|
||||
float param2,
|
||||
float param3,
|
||||
@@ -102,9 +102,6 @@ void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
|
||||
int32_t y,
|
||||
float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
|
||||
{
|
||||
//sysid = m_sysid;
|
||||
//compid = m_compid;
|
||||
|
||||
//给指令赋值
|
||||
cmd_int.param1 = param1;
|
||||
cmd_int.param2 = param2;
|
||||
@@ -122,24 +119,31 @@ void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
|
||||
//开启线程开始传输
|
||||
|
||||
status.m_Mode = TransmitMode;//发送模式
|
||||
|
||||
status.transmit.type = 0;
|
||||
start();//开启线程
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void commandprocess::WriteCmd_long(float param1, float param2, float param3, float param4, float param5, float param6, float param7)
|
||||
void commandprocess::WriteCmd_long(float param1, float param2, float param3, float param4, float param5, float param6, float param7, uint16_t command, uint8_t confirmation)
|
||||
{
|
||||
WriteCmd(0,0,
|
||||
param1,
|
||||
param2,
|
||||
param3,
|
||||
param4,
|
||||
param5,
|
||||
param6,
|
||||
param7,
|
||||
0,0,0,0);
|
||||
//给指令赋值
|
||||
cmd_long.param1 = param1;
|
||||
cmd_long.param2 = param2;
|
||||
cmd_long.param3 = param3;
|
||||
cmd_long.param4 = param4;
|
||||
cmd_long.param5 = param5;
|
||||
cmd_long.param6 = param6;
|
||||
cmd_long.param7 = param7;
|
||||
|
||||
cmd_long.command = command;
|
||||
cmd_long.confirmation = confirmation;
|
||||
|
||||
//开启线程开始传输
|
||||
status.m_Mode = TransmitMode;//发送模式
|
||||
status.transmit.type = 1;
|
||||
start();//开启线程
|
||||
}
|
||||
|
||||
|
||||
@@ -167,7 +171,7 @@ void commandprocess::Parse(mavlink_message_t msg)
|
||||
{
|
||||
status.transmit.isWaitingforACK = false;
|
||||
|
||||
emit commandAccepted(command_ack.command);//广播指令已经接受的反馈
|
||||
emit commandAccepted(true,command_ack.command);//广播指令已经接受的反馈
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -181,17 +185,13 @@ void commandprocess::Parse(mavlink_message_t msg)
|
||||
void commandprocess::ReadStateMachine(void)//没有读指令这个说法
|
||||
{
|
||||
static uint8_t step = 0;
|
||||
//static uint8_t timeout_count = 0;
|
||||
static int time = 0;
|
||||
|
||||
|
||||
if(step == 0)
|
||||
{
|
||||
qDebug() << "start reading parameter";
|
||||
status.recieve.isWaitingforValue = true;
|
||||
|
||||
//request_list();
|
||||
|
||||
step++;
|
||||
time = QTime::currentTime().msecsSinceStartOfDay();
|
||||
}
|
||||
@@ -209,9 +209,21 @@ void commandprocess::WriteStateMachine(void)
|
||||
{
|
||||
status.transmit.isWaitingforACK = true;
|
||||
|
||||
_int(cmd_int.param1,cmd_int.param2,cmd_int.param3,cmd_int.param4,
|
||||
cmd_int.x,cmd_int.y,cmd_int.z,
|
||||
cmd_int.command,cmd_int.frame,cmd_int.current,cmd_int.autocontinue);//发送一个指令
|
||||
if(status.transmit.type == 0)
|
||||
{
|
||||
qDebug() << "send cmd int" << cmd_int.command;
|
||||
_int(cmd_int.param1,cmd_int.param2,cmd_int.param3,cmd_int.param4,
|
||||
cmd_int.x,cmd_int.y,cmd_int.z,
|
||||
cmd_int.command,cmd_int.frame,cmd_int.current,cmd_int.autocontinue);//发送一个指令
|
||||
}
|
||||
else if(status.transmit.type == 1)
|
||||
{
|
||||
qDebug() << "send cmd long" << cmd_long.command;
|
||||
_long(cmd_long.param1,cmd_long.param2,cmd_long.param3,cmd_long.param4,
|
||||
cmd_long.param5,cmd_long.param6,cmd_long.param7,
|
||||
cmd_long.command,cmd_long.confirmation);//发送一个指令
|
||||
}
|
||||
|
||||
time = QTime::currentTime().msecsSinceStartOfDay();
|
||||
step++;//下一个阶段
|
||||
}
|
||||
@@ -230,17 +242,36 @@ void commandprocess::WriteStateMachine(void)
|
||||
timeout_count = 0;
|
||||
|
||||
//清除指令
|
||||
cmd_int.param1 = 0;
|
||||
cmd_int.param2 = 0;
|
||||
cmd_int.param3 = 0;
|
||||
cmd_int.param4 = 0;
|
||||
cmd_int.x = 0;
|
||||
cmd_int.y = 0;
|
||||
cmd_int.z = 0;
|
||||
cmd_int.command = 0;
|
||||
cmd_int.frame = 0;
|
||||
cmd_int.current = 0;
|
||||
cmd_int.autocontinue = 0;
|
||||
if(status.transmit.type == 0)
|
||||
{
|
||||
emit commandAccepted(false,cmd_int.command);
|
||||
|
||||
cmd_int.param1 = 0;
|
||||
cmd_int.param2 = 0;
|
||||
cmd_int.param3 = 0;
|
||||
cmd_int.param4 = 0;
|
||||
cmd_int.x = 0;
|
||||
cmd_int.y = 0;
|
||||
cmd_int.z = 0;
|
||||
cmd_int.command = 0;
|
||||
cmd_int.frame = 0;
|
||||
cmd_int.current = 0;
|
||||
cmd_int.autocontinue = 0;
|
||||
}
|
||||
else if(status.transmit.type == 1)
|
||||
{
|
||||
emit commandAccepted(false,cmd_long.command);
|
||||
|
||||
cmd_long.param1 = 0;
|
||||
cmd_long.param2 = 0;
|
||||
cmd_long.param3 = 0;
|
||||
cmd_long.param4 = 0;
|
||||
cmd_long.param5 = 0;
|
||||
cmd_long.param6 = 0;
|
||||
cmd_long.param7 = 0;
|
||||
cmd_long.command = 0;
|
||||
cmd_long.confirmation = 0;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -256,17 +287,32 @@ void commandprocess::WriteStateMachine(void)
|
||||
timeout_count = 0;
|
||||
|
||||
//清除指令
|
||||
cmd_int.param1 = 0;
|
||||
cmd_int.param2 = 0;
|
||||
cmd_int.param3 = 0;
|
||||
cmd_int.param4 = 0;
|
||||
cmd_int.x = 0;
|
||||
cmd_int.y = 0;
|
||||
cmd_int.z = 0;
|
||||
cmd_int.command = 0;
|
||||
cmd_int.frame = 0;
|
||||
cmd_int.current = 0;
|
||||
cmd_int.autocontinue = 0;
|
||||
if(status.transmit.type == 0)
|
||||
{
|
||||
cmd_int.param1 = 0;
|
||||
cmd_int.param2 = 0;
|
||||
cmd_int.param3 = 0;
|
||||
cmd_int.param4 = 0;
|
||||
cmd_int.x = 0;
|
||||
cmd_int.y = 0;
|
||||
cmd_int.z = 0;
|
||||
cmd_int.command = 0;
|
||||
cmd_int.frame = 0;
|
||||
cmd_int.current = 0;
|
||||
cmd_int.autocontinue = 0;
|
||||
}
|
||||
else if(status.transmit.type == 1)
|
||||
{
|
||||
cmd_long.param1 = 0;
|
||||
cmd_long.param2 = 0;
|
||||
cmd_long.param3 = 0;
|
||||
cmd_long.param4 = 0;
|
||||
cmd_long.param5 = 0;
|
||||
cmd_long.param6 = 0;
|
||||
cmd_long.param7 = 0;
|
||||
cmd_long.command = 0;
|
||||
cmd_long.confirmation = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -34,6 +34,7 @@ class commandprocess : public QObject
|
||||
|
||||
typedef struct {
|
||||
bool isWaitingforACK;
|
||||
uint8_t type;
|
||||
}_transmit;
|
||||
|
||||
typedef struct
|
||||
@@ -59,11 +60,11 @@ public slots:
|
||||
|
||||
void setID(int m_sysid, int m_compid);
|
||||
|
||||
void WriteCmd_long(float param1, float param2, float param3, float param4, float param5, float param6, float param7);
|
||||
void WriteCmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);
|
||||
|
||||
//读取和写入指令
|
||||
//void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
|
||||
void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
|
||||
void WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
|
||||
float param1,
|
||||
float param2,
|
||||
float param3,
|
||||
@@ -120,7 +121,7 @@ signals:
|
||||
|
||||
|
||||
|
||||
void commandAccepted(uint16_t);
|
||||
void commandAccepted(bool flag,uint16_t id);
|
||||
|
||||
private:
|
||||
bool running_flag = false;
|
||||
|
||||
@@ -78,9 +78,11 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
|
||||
|
||||
|
||||
|
||||
/*
|
||||
altitudeitem = new AltitudeItem(map,Qt::red);
|
||||
altitudeitem->setParentItem(map);
|
||||
setOverlayOpacity(overlayOpacity);
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user