舵机标定引出
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+53
-19
@@ -891,15 +891,34 @@ void MainWindow::updateDlink(float rssi, uint64_t bitrate)
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}
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void MainWindow::setServoOffset(QVariant la,QVariant ra,
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QVariant le,QVariant re,
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QVariant ru)
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void MainWindow::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle, QVariant dirre, QVariant dirru,
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QVariant maxla, QVariant maxra, QVariant maxle, QVariant maxre, QVariant maxru,
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QVariant scalela, QVariant scalera, QVariant scalele, QVariant scalere, QVariant scaleru,
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QVariant la, QVariant ra,QVariant le, QVariant re,QVariant ru)
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{
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m_la = la.toDouble();
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m_ra = ra.toDouble();
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m_le = le.toDouble();
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m_re = re.toDouble();
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m_ru = ru.toDouble();
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dir_la = dirla;
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dir_ra = dirra;
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dir_le = dirle;
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dir_re = dirre;
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dir_ru = dirru;
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max_la = maxla;
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max_ra = maxra;
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max_le = maxle;
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max_re = maxre;
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max_ru = maxru;
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scale_la = scalela;
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scale_ra = scalera;
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scale_le = scalele;
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scale_re = scalere;
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scale_ru = scaleru;
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bias_la = la;
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bias_ra = ra;
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bias_le = le;
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bias_re = re;
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bias_ru = ru;
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}
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// 16~20Hz左右 运行频率可能太高
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@@ -1587,16 +1606,18 @@ void MainWindow::updateUI()//事件驱动式更新数据
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statusui->setState(11,QString::number(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3,'f',1),tr(" "));
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statusui->setServo(1,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2),
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QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * 35.0 / 1.12 - m_la,'f',2));
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statusui->setServo(2,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * 35.0 / 1.117 - m_ra,'f',2));
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statusui->setServo(3,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 25.0 - m_le,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * 25.0 - m_le,'f',2));
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statusui->setServo(4,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 25.0 - m_re,'f',2),
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QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * 25.0 - m_re,'f',2));
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statusui->setServo(5,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0 - m_ru,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * 25.0 - m_ru,'f',2));
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statusui->setServo(1,QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2),
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QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2));
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statusui->setServo(2,QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2),
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QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2));
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statusui->setServo(3,QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2),
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QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2));
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statusui->setServo(4,QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2),
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QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2));
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statusui->setServo(5,QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2),
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QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2));
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/*
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@@ -1724,6 +1745,19 @@ void MainWindow::updateUI()//事件驱动式更新数据
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toolsui->diagram->setServo(1,QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2),
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QString::number(dir_la.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2));
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toolsui->diagram->setServo(2,QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2),
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QString::number(dir_ra.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2));
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toolsui->diagram->setServo(3,QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2),
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QString::number(dir_le.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2));
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toolsui->diagram->setServo(4,QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2),
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QString::number(dir_re.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2));
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toolsui->diagram->setServo(5,QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2),
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QString::number(dir_ru.toInt() * ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2));
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/*
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toolsui->diagram->setServo(1,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2),
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QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2));
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toolsui->diagram->setServo(2,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2),
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@@ -1735,7 +1769,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
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toolsui->diagram->setServo(5,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0 - m_ru,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw)/32767.0 * 25.0 - m_ru,'f',2));
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*/
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QString Fix;
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switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
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