修正平尾拟合系数，V尾拟合系数

MavLinkNode/mavlinknode.cpp

@@ -52,6 +52,9 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent)
     startuptime = current;
 
     mavlogFileName = QString("./log/Tlog/GCS%1.tlog").arg(current.toString("yyyyMMddHHmmss"));
+
+    plogFileName = QString("./log/Tlog/GCS%1.plog").arg(current.toString("yyyyMMddHHmmss"));
+
     mavLogFile = new QFile(mavlogFileName);
     mavLogFile->open(QIODevice::WriteOnly);
 
@@ -564,28 +567,31 @@ void MavLinkNode::LogTimerOut(void)
     */
 }
 
-bool MavLinkNode::setLogData(mavlink_message_t msg)
+bool MavLinkNode::setLogData(QString name,uint8_t type,mavlink_message_t msg)
 {
-
-    uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
-    quint64 currentTimestamp = ((quint64)QDateTime::currentMSecsSinceEpoch()) * 1000;
-    qToBigEndian(currentTimestamp, buff);
-    uint16_t len = mavlink_msg_to_send_buffer(buff+sizeof(quint64), &msg);
-    if (mavLogFile)
+    QFile file(name);
+    if(file.open(QIODevice::Append))
     {
-        auto size  = Packer2_pack(&packer,1,buff,len+sizeof(quint64));
+        uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+        qToLittleEndian(type, buff);
 
 
+        quint64 currentTimestamp = (quint64)QDateTime::currentMSecsSinceEpoch();
+        qToLittleEndian(currentTimestamp, buff+1);
+        uint16_t len = mavlink_msg_to_send_buffer(buff+1+sizeof(quint64), &msg);
+
+        auto size  = Packer2_pack(&packer,1,buff,len+1+sizeof(quint64));
+
         QByteArray data;
-
         data.clear();
         data.append((const char *)packer.buff,size);
 
-        QDataStream stream(mavLogFile);
+        QDataStream stream(&file);
 
         stream << data;
 
-        return mavLogFile->flush();
+        file.flush();
+        file.close();
     }
     return false;
 }
@@ -664,6 +670,9 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             }
 
 
+            setLogData(plogFileName,0,msg);
+
+
             count++;
             if(msg.sysid < 250)             //过滤地面站发过来的数据
             {

MavLinkNode/mavlinknode.h

@@ -273,7 +273,7 @@ private slots:
    void timer_1s_Out(void);
 
 
-   bool setLogData(mavlink_message_t msg);
+   bool setLogData(QString name, uint8_t type, mavlink_message_t msg);
 
    //解析
    void Mavlinkparse(quint32 src,QByteArray datagram);
@@ -320,6 +320,8 @@ protected:
     QString mavlogFileName;
     QFile *mavLogFile = NULL;
 
+    QString plogFileName;
+
     QTimer *logTimer = nullptr;
 
     Parser2_t parser;