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This commit is contained in:
hm
2021-03-09 09:02:56 +08:00
parent 18d1215a0b
commit 8397e06dc4
5 changed files with 59 additions and 30 deletions
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App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
-5
View File
@@ -966,9 +966,4 @@ void ParameterInspector::on_lineEdit_textEdited(const QString &arg1)
}
void ParameterInspector::on_WriteAllButton_clicked()
{
}
App/ToolsUI/tools_Index4/tools_Index4.cpp
+24 -4
View File
@@ -22,13 +22,14 @@ tools_Index4::tools_Index4(QWidget *parent) :
setWindowTitle(tr("Servos Inspector"));
/*
addGroup(0);
addGroup(1);
addGroup(2);
addGroup(3);
addGroup(4);
*/
}
@@ -59,6 +60,14 @@ void tools_Index4::mouseDoubleClickEvent(QMouseEvent *event)
void tools_Index4::setChannel(int port,QMap<int,uint16_t> pwm)
{
//qDebug() << pwm;
if(port > 10)
{
qDebug() << "port out of range";
return;
}
if(!barlist.contains(port * 16 + 1))
{
addGroup(port);
@@ -111,6 +120,7 @@ void tools_Index4::addGroup(int port)
progress->setObjectName(name.arg(port).arg(var));
progress->setFormat("%v");
progress->setRange(800,2200);
progress->setValue(1500);
@@ -118,11 +128,21 @@ void tools_Index4::addGroup(int port)
barlist.insert(port * 16 + var,progress);
layout->addWidget(l,var,0,1,1);
layout->addWidget(progress,var,1,1,2);
layout->addWidget(progress,var,1);
}
groupbox->setLayout(layout);
ui->gridLayout->addWidget(groupbox,0,port,1,1);
int row = 0;
int column = 0;
row = port / 5;
column = port % 5;
ui->gridLayout->addWidget(groupbox,row,column,1,1);
}
}
App/mainwindow.cpp
+33 -19
View File
@@ -276,10 +276,10 @@ MainWindow::MainWindow(QWidget *parent)
/*
connect(dlink->mavlinknode,SIGNAL(signal_servo_output_raw(mavlink_servo_output_raw_t)),
this,SLOT(update_servo_output_raw(mavlink_servo_output_raw_t)));
*/
/*
connect(dlink->mavlinknode,SIGNAL(signal_servo_output_raw(mavlink_servo_output_raw_t *)),
this,SLOT(update_servo_output_raw(mavlink_servo_output_raw_t *)),Qt::DirectConnection);
*/
@@ -987,8 +987,10 @@ void MainWindow::setCommunicationLostState(bool flag)
void MainWindow::updateDlink(float rssi, uint64_t bitrate)
{
/*
statusui->setDlink(1,QString::number(rssi,'f',0),
QString::number(bitrate));
*/
}
@@ -1007,7 +1009,17 @@ void MainWindow::setServoOffset(QVariant la,QVariant ra,
void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
{
static qint64 lastTime = 0;
/*
qDebug() << "Time:"
<< QDateTime::currentMSecsSinceEpoch() - lastTime
<< servo->port
<< servo->servo1_raw;
lastTime = QDateTime::currentMSecsSinceEpoch();
*/
int currentUAV = map->getUAVCurrent();
@@ -1031,8 +1043,6 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
toolsui->index4->setChannel(servo.port,servos);
if(servo.port == 0)
{
//qDebug() << "setPWM";
@@ -1043,6 +1053,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
statusui->setServo(4,QString::number(pwm2angle(servo.servo11_raw,1353,1936,-5.2,4,-0.53),'f',2),0);//右升降
statusui->setServo(5,QString::number(pwm2angle(servo.servo14_raw,1728,1277,-27,23,-1.61),'f',2),0);//方向
*/
/*
statusui->setServo(1,QString::number(pwm2angle_2((int16_t)servo.servo1_raw,0.0,0.0168,-4.5791)),
QString::number(pwm2angle_2((int16_t)servo.servo8_raw,0.0,0.0168,-4.5791)));//左副
statusui->setServo(2,QString::number(pwm2angle_2((int16_t)servo.servo3_raw,0.0,0.017,-4.8676)),
@@ -1060,7 +1071,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
statusui->setEngine(3,QString::number(servo.servo13_raw - 55,'f',0));//T1
statusui->setEngine(4,QString::number((double)servo.servo14_raw * 0.6 / 255,'f',1));//p2
statusui->setEngine(5,QString::number((double)servo.servo15_raw * 150.0 / 255,'f',0));//current
*/
QString eng;
switch (servo.servo16_raw) {
@@ -1091,7 +1102,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
}
statusui->setEngine(6,eng);//engine
//statusui->setEngine(6,eng);//engine
eng.clear();
switch (servo.servo7_raw) {
@@ -1111,7 +1122,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
eng.append("发动机转速指令");
break;
}
statusui->setEngine(7,eng);//engine
//statusui->setEngine(7,eng);//engine
eng.clear();
@@ -1123,7 +1134,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
eng.append("以开伞");
break;
}
statusui->setEngine(8,eng);//engine
//statusui->setEngine(8,eng);//engine
double fluxsrc = dlink->mavlinknode->vehicleList.value(currentUAV).rpm.rpm3;
@@ -1131,7 +1142,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
fuelflux = -4E-07 * fluxsrc * fluxsrc + 0.0189 * fluxsrc - 0.4689;
statusui->setEngine(9,QString::number(fuelflux,'f',2));//flux
//statusui->setEngine(9,QString::number(fuelflux,'f',2));//flux
//349kg
@@ -1147,7 +1158,7 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
fuelTotal -= (fuelflux * dt * 0.001 * 0.8 ) / 60.0 ;
}
statusui->setEngine(10,QString::number(fuelTotal,'f',2));//fuel
//statusui->setEngine(10,QString::number(fuelTotal,'f',2));//fuel
@@ -1157,9 +1168,9 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
else if(servo.port == 1)
{
//ZUO
statusui->setState(12,(servo.servo1_raw)?("未定向"):("已定向"),0);
//statusui->setState(12,(servo.servo1_raw)?("未定向"):("已定向"),0);
statusui->setEngine(11,QString::number(servo.servo2_raw * 0.01,'f',2));//fuel
//statusui->setEngine(11,QString::number(servo.servo2_raw * 0.01,'f',2));//fuel
}
@@ -1171,6 +1182,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
{
int currentUAV = map->getUAVCurrent();
//设置舵机显示
update_servo_output_raw(dlink->mavlinknode->vehicleList.value(currentUAV).servo_output_raw);
static uint32_t custommode_old = 0;
static uint8_t state_old = 0;
bool isCustomChanged = false;
@@ -1535,8 +1549,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
*/
//设置舵机显示
update_servo_output_raw(dlink->mavlinknode->vehicleList.value(currentUAV).servo_output_raw);
//toolsui->powersystem->setTurbineState(&dlink->mavlinknode->vehicleList.value(currentUAV).turbinstate);
@@ -1691,6 +1704,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
//===================status ui =============================================
/*
statusui->setMode(1,mode_str,0);
statusui->setMode(2,1,2);
@@ -1723,7 +1737,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
statusui->setState(10,QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).emb_atom_com.mach,'f',2),tr(" "));
statusui->setState(11,QString::number(-dlink->mavlinknode->vehicleList.value(currentUAV).global_position_int.vz * 10e-3,'f',1),tr(" "));
*/
//statusui->setServo(6,QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).sys_status.onboard_control_sensors_present),0);
@@ -1760,13 +1774,13 @@ void MainWindow::updateUI()//事件驱动式更新数据
/*
statusui->setBattery(1,QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).sys_status.voltage_battery * 0.001,'f',1),0);
statusui->setBattery(2,QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).battery_status.voltages[1] * 0.002,'f',1),0);
statusui->setBattery(3,QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).battery_status.voltages[2]* 0.001,'f',2),0);
statusui->setBattery(4,QString::number((dlink->mavlinknode->vehicleList.value(currentUAV).battery_status.voltages[3] - 310)/4.8,'f',2),0);
statusui->setBattery(5,QString::number((dlink->mavlinknode->vehicleList.value(currentUAV).battery_status.voltages[7] - 190)/9200.0,'f',1),0);
*/
MavLinkNode/mavlinknode.cpp
+1 -1
View File
@@ -1166,7 +1166,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
servo_output_raw_csv.append(QString::number( vehicle.servo_output_raw.servo16_raw)); servo_output_raw_csv.append('\n');
emit signal_servo_output_raw(&vehicle.servo_output_raw);
}break;
MavLinkNode/mavlinknode.h
+1 -1
View File
@@ -175,7 +175,7 @@ public:
signals:
void signal_servo_output_raw(mavlink_servo_output_raw_t servo);
void signal_servo_output_raw(mavlink_servo_output_raw_t *servo);
void new_remote_ctrl(QList<uint16_t>);