修正可能存在的闪退因素

App/HealthUI/HealthUI.cpp

@@ -75,8 +75,11 @@ void HealthUI::setColor(uint32_t pos,state sta)
     if(LabelMap.keys().contains(pos))
     {
         QLabel *label = LabelMap.value(pos);
+        if(label)
+        {
             setState(label,sta);
         }
+    }
     else
     {
         //找不到就不设置
@@ -89,8 +92,11 @@ void HealthUI::setValue(uint32_t pos,QVariant sta)
     if(LabelMap.contains(pos))
     {
         QLabel *label = LabelMap.value(pos);
+        if(label)
+        {
             setString(label,sta.toString());
         }
+    }
     else
     {
         //找不到就不设置

App/StatusUI/StatusUI.cpp

@@ -40,7 +40,7 @@ StatusUI::StatusUI(QWidget *parent) :
     install(base,0,"真空速[m/s]",0,QMap<QVariant, StateWidget::state>{{100,StateWidget::state::red},{700,StateWidget::state::green}});
     install(base,0,"地速[m/s]",0,QMap<QVariant, StateWidget::state>{{100,StateWidget::state::red},{700,StateWidget::state::green}});
     install(base,0,"马赫数[Ma]",0,QMap<QVariant, StateWidget::state>{{0.3,StateWidget::state::red},{0.8,StateWidget::state::green},{2,StateWidget::state::orange}});
-    install(base,0,"爬升率[m/s]",0,QMap<QVariant, StateWidget::state>{{-50,StateWidget::state::red},{100,StateWidget::state::green},{500,StateWidget::state::orange}});
+    install(base,0,"爬升率[m/s]",0,QMap<QVariant, StateWidget::state>{{-80,StateWidget::state::red},{100,StateWidget::state::green},{500,StateWidget::state::orange}});
 
     install(actuator,0,"左翼尖[°]",0);
     install(actuator,0,"右翼尖[°]",0);

App/mainwindow.cpp

@@ -120,17 +120,7 @@ MainWindow::MainWindow(QWidget *parent)
 
     setFocusPolicy(Qt::StrongFocus);
     setAttribute(Qt::WA_AcceptTouchEvents);
-
-
-    /*
-    //设置优先生成，然后对全局进行设置
-    setting = new Setting(this);
-    setting->hide();
-    */
-
-
-
-
+    setAttribute(Qt::WA_TransparentForMouseEvents,true);
 
 
     tts = new QTextToSpeech(this);
@@ -924,6 +914,7 @@ void MainWindow::beep(int sysid)
     {
         if(map->getUAVCurrent() == sysid)
         {
+
             QApplication::beep();
         }
     }
@@ -945,11 +936,14 @@ void MainWindow::setCommunicationLostState(bool flag)
             if(isEnableTTS)
             {
                 if(tts)
+                {
+                    if(tts->state() == QTextToSpeech::Ready)
                     {
                         tts->say(tr("Communication Lost"));
                     }
                 }
             }
+        }
 
        healthui->setFailure();
        //statusui->setFailure();
@@ -963,12 +957,15 @@ void MainWindow::setCommunicationLostState(bool flag)
             if(isEnableTTS)
             {
                 if(tts)
+                {
+                    if(tts->state() == QTextToSpeech::Ready)
                     {
                         tts->say(tr("Communication Regain"));
                     }
                 }
             }
         }
+    }
 
     last = flag;
 }
@@ -1104,11 +1101,22 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
 }
 
 
-// 16~20Hz左右 运行频率可能太高
+// 16~20Hz左右 运行频率可能太高（30fps）
 void MainWindow::updateUI()//事件驱动式更新数据
 {
     int currentUAV = map->getUAVCurrent();
 
+    if(currentUAV < 1)//滤掉错值
+    {
+        return;
+    }
+
+    if(!dlink->mavlinknode->vehicleList.keys().contains(currentUAV))//滤掉不存在的无人机
+    {
+        return;
+    }
+
+
     //设置舵机显示
     update_servo_output_raw(dlink->mavlinknode->vehicleList.value(currentUAV).servo_output_raw);
 
@@ -1118,7 +1126,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
     bool isStateChanged = false;
 
     static qint64 frq_time = QDateTime::currentMSecsSinceEpoch();//10hz
-    if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 100)
+    if(((quint64)(QDateTime::currentMSecsSinceEpoch() - frq_time)) <= 100)
     {
          return;
     }
@@ -1351,7 +1359,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
         {
             if(tts)
             {
-
+                if(tts->state() == QTextToSpeech::Ready)
                 tts->say(arm_str);
             }
         }
@@ -1364,6 +1372,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
         {
             if(tts)
             {
+                if(tts->state() == QTextToSpeech::Ready)
                 tts->say(mode_str);
             }
         }
@@ -1454,11 +1463,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
         healthui->setColor(20,getBit(health,27)?(HealthUI::state::success):(HealthUI::state::failure));//侧滑角
 
 
-
-
-
         //===================status ui =============================================
-
         //========================0
         statusui->setValue(0,0,mode_str);
         //========================1

GCS.pro

@@ -3,7 +3,7 @@ TEMPLATE = subdirs
 CONFIG += ordered
 
 
-#SUBDIRS += VehicleManage
+SUBDIRS += VehicleManage
 SUBDIRS += Skin
 SUBDIRS += opmap
 SUBDIRS += Cockpit

MavLinkNode/mavlinknode.cpp

@@ -774,6 +774,8 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
 
 void MavLinkNode::StatusParse(mavlink_message_t msg)
 {
+
+
     _vehicle vehicle = vehicleList.value(msg.sysid);
 
     switch (msg.msgid) {
@@ -1122,9 +1124,8 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          }
 
 
-        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
 
-        //emit showMessage(tr("update ui info %1").arg(vehicle.sysid));
+        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
         emit state_updated();
 
 }

opmap/mapwidget/opmapwidget.cpp

@@ -47,6 +47,8 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
     QCoreApplication::installTranslator(translator);
     */
 
+    setAttribute(Qt::WA_TransparentForMouseEvents,true);
+
     setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
     core = new internals::Core;