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修改了状态显示

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This commit is contained in:
hm
2020-10-28 13:48:15 +08:00
parent 9efb3a710a
commit 7b76b6240e
14 changed files with 2810 additions and 1968 deletions
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App/mainwindow.cpp
+86 -13
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@@ -785,7 +785,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
}
copk->setAOA(dlink->mavlinknode->vehicle.emb_atom_com.alpha);
copk->setOL(dlink->mavlinknode->vehicle.ins1.az/(-9.8));
copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3);//速度朝下为正
@@ -1239,16 +1240,74 @@ void MainWindow::updateUI()//事件驱动式更新数据
statusui->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
statusui->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));
statusui->setGPS(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
statusui->setGPS(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
statusui->setGPS(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
statusui->setGPS(4,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.vel * 0.01,'f',1));
statusui->setGPS(5,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible,'f',0));
statusui->setGPS(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.cog * 0.01,'f',1));
statusui->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
statusui->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
statusui->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
statusui->setGPS1(4,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));
statusui->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
statusui->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));
QString gpsFix1;
switch (dlink->mavlinknode->vehicle.ins1.gps_status) {
case 0:
case 1:
gpsFix1.append(tr("GPS Unlocated"));
break;
case 2:
case 3:
gpsFix1.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins1.gps_status));
break;
case 4:
gpsFix1.append(tr("fixed"));
break;
case 5:
gpsFix1.append(tr("float"));
break;
default:
break;
}
statusui->setGPS1(7,gpsFix1);
statusui->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
statusui->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
statusui->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
statusui->setGPS2(4,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));
statusui->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
statusui->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));
QString gpsFix2;
switch (dlink->mavlinknode->vehicle.ins2.gps_status) {
case 0:
case 1:
gpsFix2.append(tr("GPS Unlocated"));
break;
case 2:
case 3:
gpsFix2.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins2.gps_status));
break;
case 4:
gpsFix2.append(tr("fixed"));
break;
case 5:
gpsFix2.append(tr("float"));
break;
default:
break;
}
statusui->setGPS2(7,gpsFix2);
//===================diagram ui =============================================
@@ -1331,13 +1390,27 @@ void MainWindow::updateUI()//事件驱动式更新数据
toolsui->diagram->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
toolsui->diagram->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));
toolsui->diagram->setGPS(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
toolsui->diagram->setGPS(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
toolsui->diagram->setGPS(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
toolsui->diagram->setGPS(4,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.vel * 0.01,'f',1));
toolsui->diagram->setGPS(5,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible,'f',0));
toolsui->diagram->setGPS(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.cog * 0.01,'f',1));
toolsui->diagram->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
toolsui->diagram->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
toolsui->diagram->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
toolsui->diagram->setGPS1(4,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->diagram->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
toolsui->diagram->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));
toolsui->diagram->setGPS1(7,gpsFix1);
toolsui->diagram->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
toolsui->diagram->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
toolsui->diagram->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
toolsui->diagram->setGPS2(4,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->diagram->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
toolsui->diagram->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));
toolsui->diagram->setGPS2(7,gpsFix2);