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修改状态显示，添加组别

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This commit is contained in:
hm
2021-04-14 18:23:36 +08:00
parent 6cf9db9378
commit a29cb30b61
14 changed files with 338 additions and 1114 deletions
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App/HealthUI/HealthUI.cpp
+7 -2
View File
@@ -17,7 +17,7 @@ HealthUI::HealthUI(QWidget *parent) :
Install("内置惯导",1,state::inital);
Install("SBG",2,state::inital);
Install("航姿",2,state::inital);
Install("ECU",3,state::inital);
Install("舵控",4,state::inital);
Install("回收着陆器",5,state::inital);
@@ -58,8 +58,13 @@ HealthUI::HealthUI(QWidget *parent) :
row = n;
}
}
this->resize(400,26 * row + 36);
}
this->resize(400,26 * row + 36);
else
{
this->resize(400,0);
}
}
App/StatusUI/StateGroup.cpp
+66
View File
@@ -0,0 +1,66 @@
#include "StateGroup.h"
StateGroup::StateGroup(QWidget *parent) : QWidget(parent)
{
}
StateGroup::~StateGroup()
{
foreach (StateWidget * w, ItemList) {
delete w;
}
}
void StateGroup::addItem(StateWidget * w)
{
ItemList.insert(ItemList.size(),w);//逐渐往上加
//检查界面，添加到界面
}
void StateGroup::addItems(QMap<int, StateWidget *> list)
{
foreach (StateWidget *w, list) {
addItem(w);
}
}
void StateGroup::setValue(int index,QString value)
{
if(ItemList.contains(index))
{
ItemList.value(index)->setValue(value);
}
}
void StateGroup::setState(int index,StateWidget::state s)
{
if(ItemList.contains(index))
{
ItemList.value(index)->setColor(s);
}
}
void StateGroup::updateUI(void)
{
}
App/StatusUI/StateGroup.h
+89
View File
@@ -0,0 +1,89 @@
#ifndef STATEGROUP_H
#define STATEGROUP_H
#include <QWidget>
#include "StateWidget.h"
class StateGroup : public QWidget
{
Q_OBJECT
public:
explicit StateGroup(QWidget *parent = nullptr);
~StateGroup();
int id;
signals:
public slots:
void setID(int value)
{
id = value;
}
int ID(void)
{
return id;
}
QMap<int,StateWidget *> Items(void)
{
return ItemList;
}
void addItem(StateWidget * w);
void addItems(QMap<int,StateWidget *> list);
StateWidget *Item(int key)
{
StateWidget *w = nullptr;
if(ItemList.contains(key))
{
w = ItemList.value(key);
}
return w;
}
StateWidget *Item(QString name)
{
StateWidget *w = nullptr;
foreach (StateWidget *i, ItemList) {
if(i->Name() == name){
w = i;
break;
}
}
return w;
}
void setValue(int index, QString value);
void setState(int index,StateWidget::state s);
private slots:
protected:
private:
QMap<int,StateWidget *> ItemList;
QString title;
};
#endif // STATEGROUP_H
App/StatusUI/StateWidget.cpp
+79 -29
View File
@@ -2,9 +2,6 @@
StateWidget::StateWidget(int flag,int index,QWidget *parent) : QWidget(parent)
{
int w = 150;
int h = 20;
gridlayout = new QGridLayout(this);
gridlayout->setMargin(0);
gridlayout->setVerticalSpacing(6);
@@ -14,15 +11,15 @@ StateWidget::StateWidget(int flag,int index,QWidget *parent) : QWidget(parent)
title->setAlignment(Qt::AlignLeft | Qt::AlignVCenter);
title->setFixedSize(w/2,h);
gridlayout->addWidget(title,0,0);
gridlayout->addWidget(title,0,0,1,1);
if(flag == 0)
{
label = new QLabel("0");
label->setAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
label->setFixedSize(w,h);
setColor(label,state::gray);
gridlayout->addWidget(label,0,1);
label->setFixedSize(w/2,h);
setColor(state::gray);
gridlayout->addWidget(label,0,1,1,1);
}
else
{
@@ -30,9 +27,11 @@ StateWidget::StateWidget(int flag,int index,QWidget *parent) : QWidget(parent)
bar->setAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
bar->setRange(0,100);
bar->setValue(0);
bar->setFixedSize(w,h);
gridlayout->addWidget(bar,0,1);
bar->setFixedSize(w/2,h);
gridlayout->addWidget(bar,0,1,1,1);
}
this->setLayout(gridlayout);
}
StateWidget::StateWidget(int flag, QString t,QVariant v,state s,int index, QWidget *parent) : QWidget(parent)
@@ -40,9 +39,6 @@ StateWidget::StateWidget(int flag, QString t,QVariant v,state s,int index, QWidg
id = index;
int w = 150;
int h = 20;
gridlayout = new QGridLayout(this);
gridlayout->setMargin(0);
gridlayout->setVerticalSpacing(6);
@@ -52,51 +48,105 @@ StateWidget::StateWidget(int flag, QString t,QVariant v,state s,int index, QWidg
title->setAlignment(Qt::AlignLeft | Qt::AlignVCenter);
title->setFixedSize(w/2,h);
gridlayout->addWidget(title,0,0);
gridlayout->addWidget(title,0,0,1,1);
if(flag == 0)
{
label = new QLabel(v.toString());
label->setAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
label->setFixedSize(w,h);
setColor(label,s);
gridlayout->addWidget(label,0,1);
label->setFixedSize(w/2,h);
setColor(s);
gridlayout->addWidget(label,0,1,1,1);
}
else
{
bar = new QProgressBar();
bar->setFormat("%v");
bar->setAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
bar->setRange(0,100);
bar->setValue(v.toDouble());
bar->setFixedSize(w,h);
gridlayout->addWidget(bar,0,1);
bar->setFixedSize(w/2,h);
gridlayout->addWidget(bar,0,1,1,1);
}
this->setLayout(gridlayout);
}
StateWidget::~StateWidget()
{
if(title)
{
delete title;
}
if(label)
{
delete label;
}
if(bar)
{
delete bar;
}
if(gridlayout)
{
delete gridlayout;
}
}
void StateWidget::setColor(QWidget *w,state s)
void StateWidget::setColor(state s)
{
w->setProperty("state",s);
w->style()->unpolish(w);
w->style()->polish(w);
if(label)
{
label->setProperty("state",s);
label->style()->unpolish(label);
label->style()->polish(label);
}
if(bar)
{
bar->setProperty("state",s);
bar->style()->unpolish(bar);
bar->style()->polish(bar);
}
}
void StateWidget::setValue(QLabel *w,QString s)
void StateWidget::setValue(QString s)
{
w->setText(s);
if(label)
{
label->setText(s);
}
if(bar)
{
bar->setValue(s.toDouble());
}
}
void StateWidget::setRange(double m_min,double m_max)
{
min = m_min;
max = m_max;
if(bar)
{
bar->setRange(m_min,m_max);
}
}
App/StatusUI/StateWidget.h
+20 -2
View File
@@ -57,8 +57,24 @@ signals:
public slots:
void setColor(QWidget *w,state s);
void setValue(QLabel *w,QString s);
int ID(void)
{
return id;
}
QString Name(void)
{
return title->text();
}
void setColor(state s);
void setValue(QString s);
void setRange(double m_min,double m_max);
protected:
@@ -68,6 +84,8 @@ private slots:
private:
int w = 300;
int h = 20;
double max = 99999999999999999;
double min = -99999999999999999;
App/StatusUI/StatusUI.cpp
+32 -4
View File
@@ -16,9 +16,7 @@ StatusUI::StatusUI(QWidget *parent) :
file.close();
install(0,"www",11);
}
@@ -62,7 +60,37 @@ void StatusUI::setValue(QString name,QVariant value)
}
}
void StatusUI::setServo(int index,double value)
{
switch (index) {
case 1:
// ui->label_Servo_1->setText(QString::number(value,'f',0));
break;
case 2:
// ui->label_Servo_2->setText(QString::number(value,'f',0));
break;
case 3:
// ui->label_Servo_3->setText(QString::number(value,'f',0));
break;
case 4:
// ui->label_Servo_4->setText(QString::number(value,'f',0));
break;
case 5:
// ui->label_Servo_5->setText(QString::number(value,'f',0));
break;
case 6:
//ui->label_Servo_6->setText(QString::number(value,'f',0));
break;
case 7:
//ui->label_Servo_7->setText(QString::number(value,'f',0));
break;
case 8:
//ui->label_Servo_8->setText(QString::number(value,'f',0));
break;
default:
break;
}
}
App/StatusUI/StatusUI.h
+2
View File
@@ -31,6 +31,8 @@ public:
void install(int flag, QString name, QVariant value);
void setServo(int index,double value);
public slots:
void setValue(QString name,QVariant value);
App/StatusUI/StatusUI.pri
+2
View File
@@ -16,10 +16,12 @@ FORMS += \
$$PWD/StatusUI.ui
HEADERS += \
$$PWD/StateGroup.h \
$$PWD/StateWidget.h \
$$PWD/StatusUI.h
SOURCES += \
$$PWD/StateGroup.cpp \
$$PWD/StateWidget.cpp \
$$PWD/StatusUI.cpp
App/StatusUI/StatusUI.ui
+1 -797
View File
@@ -13,803 +13,7 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="24" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>转速[r/min]</string>
</property>
</widget>
</item>
<item row="38" column="1">
<widget class="QLabel" name="label_Fuel_Int">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>海拔[m]</string>
</property>
</widget>
</item>
<item row="33" column="1">
<widget class="QLabel" name="label_bat_2">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="40" column="0" colspan="2">
<widget class="Line" name="line_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="38" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>积分油量[kg]</string>
</property>
</widget>
</item>
<item row="16" column="0" colspan="2">
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>表速[m/s]</string>
</property>
</widget>
</item>
<item row="41" column="1">
<widget class="QLabel" name="label_ssp">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_66">
<property name="text">
<string>飞行模式</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_1_heading">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_mode">
<property name="font">
<font>
<italic>true</italic>
</font>
</property>
<property name="text">
<string>控制状态</string>
</property>
</widget>
</item>
<item row="39" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>估计油量[kg]</string>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_1_rate">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_1_rol">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="24" column="1">
<widget class="QLabel" name="label_rpm">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="36" column="1">
<widget class="QLabel" name="label_EngineVol">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="30" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>开伞状态</string>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_1_tas">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="34" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>发动机电压[V]</string>
</property>
</widget>
</item>
<item row="27" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>电流[mA]</string>
</property>
</widget>
</item>
<item row="28" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>发动机状态</string>
</property>
</widget>
</item>
<item row="37" column="1">
<widget class="QLabel" name="label_flux">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_1_Slide">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_49">
<property name="text">
<string>滚转角[°]</string>
</property>
</widget>
</item>
<item row="26" column="1">
<widget class="QLabel" name="label_P5">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="30" column="1">
<widget class="QLabel" name="label_Parachute">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="25" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>T1[℃]</string>
</property>
</widget>
</item>
<item row="25" column="1">
<widget class="QLabel" name="label_T0">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="18" column="1">
<widget class="QProgressBar" name="label_throttle">
<property name="value">
<number>0</number>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>航迹角[°]</string>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_64">
<property name="text">
<string>地速[m/s]</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>俯仰角[°]</string>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_la_real">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_1_gs">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="34" column="1">
<widget class="QLabel" name="label_bat_3">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>左尾舵[°]</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>油门[%]</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_1_cas">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="32" column="1">
<widget class="QLabel" name="label_bat_1">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>右尾舵[°]</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_63">
<property name="text">
<string>真空速[m/s]</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_1_alt">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="33" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>舵机电压[V]</string>
</property>
</widget>
</item>
<item row="37" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>燃油流量[L/min]</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_FlightMode">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
<string>爬升率[m/s]</string>
</property>
</widget>
</item>
<item row="35" column="1">
<widget class="QLabel" name="label_BackFuel">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="42" column="1">
<widget class="QLabel" name="label_ssr">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="32" column="0">
<widget class="QLabel" name="label_50">
<property name="text">
<string>飞控电压[V]</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_1_Atteck">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>GPS定向</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_1_pit">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="36" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>滑油压力[Pa]</string>
</property>
</widget>
</item>
<item row="35" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>涡轮后温度[℃]</string>
</property>
</widget>
</item>
<item row="39" column="1">
<widget class="QLabel" name="label_Fuel_Est">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>马赫数[Ma]</string>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_gps_dir">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="41" column="0">
<widget class="QLabel" name="label_54">
<property name="text">
<string>信号[%-B/s]</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>攻角[°]</string>
</property>
</widget>
</item>
<item row="28" column="1">
<widget class="QLabel" name="label_engine_check">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="21" column="1">
<widget class="QLabel" name="label_ele_real">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="22" column="1">
<widget class="QLabel" name="label_Hstable_real">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="31" column="0" colspan="2">
<widget class="Line" name="line_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>侧滑角[°]</string>
</property>
</widget>
</item>
<item row="23" column="0" colspan="2">
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="20" column="0">
<widget class="QLabel" name="label_46">
<property name="text">
<string>右副翼[°]</string>
</property>
</widget>
</item>
<item row="29" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>发动机动作</string>
</property>
</widget>
</item>
<item row="26" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>P2[MPa]</string>
</property>
</widget>
</item>
<item row="27" column="1">
<widget class="QLabel" name="label_servo_current">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>左副翼[°]</string>
</property>
</widget>
</item>
<item row="29" column="1">
<widget class="QLabel" name="label_EngineState">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="20" column="1">
<widget class="QLabel" name="label_ra_real">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_base">
<property name="font">
<font>
<family>Adobe 黑体 Std R</family>
<pointsize>12</pointsize>
<italic>true</italic>
</font>
</property>
<property name="text">
<string>基本信息</string>
</property>
</widget>
</item>
<item row="17" column="0">
<widget class="QLabel" name="label_servo">
<property name="font">
<font>
<family>Adobe 黑体 Std R</family>
<pointsize>12</pointsize>
<italic>true</italic>
</font>
</property>
<property name="text">
<string>作动状态</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_1_ma">
<property name="styleSheet">
<string notr="true">background-color: rgb(189, 189, 189);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
<layout class="QGridLayout" name="gridLayout"/>
</widget>
<resources/>
<connections/>
App/ToolsUI/tools_Index4/tools_Index4.cpp
+3 -3
View File
@@ -25,9 +25,9 @@ tools_Index4::tools_Index4(QWidget *parent) :
addGroup(0);
addGroup(1);
addGroup(2);
addGroup(3);
addGroup(4);
//addGroup(2);
//addGroup(3);
//addGroup(4);
App/mainwindow.cpp
+12 -256
View File
@@ -1010,8 +1010,6 @@ 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:"
@@ -1045,132 +1043,22 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
if(servo.port == 0)
{
//qDebug() << "setPWM";
/*
statusui->setServo(1,QString::number(pwm2angle(servo.servo12_raw,2032,1218,-30,20,2.56),'f',2),0);//左副
statusui->setServo(2,QString::number(pwm2angle(servo.servo13_raw,1145,1764,-30,20,-1.24),'f',2),0);//右副
statusui->setServo(3,QString::number(pwm2angle(servo.servo10_raw,1845,1154,-25.7,25.3,-0.16),'f',2),0);//左升降
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)),
QString::number(pwm2angle_2((int16_t)servo.servo10_raw,0.0,0.017,-4.8676)));//右副
statusui->setServo(3,QString::number(pwm2angle_2((int16_t)servo.servo2_raw,0.0,0.0147,-0.5647)),
QString::number(pwm2angle_2((int16_t)servo.servo9_raw,0.0,0.0147,-0.5647)));//左尾
statusui->setServo(4,QString::number(pwm2angle_2((int16_t)servo.servo4_raw,0.0,0.0147,-8.3054)),
QString::number(pwm2angle_2((int16_t)servo.servo11_raw,0.0,0.0147,-8.3054)));//右尾
statusui->setEngine(1,QString::number((servo.servo5_raw - 1000) * 0.1,'f',0));
statusui->setEngine(2,QString::number(servo.servo12_raw,'f',1));//转速
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) {
case 0x00:
eng.append("转速大于600r/min");
break;
case 0xA5:
eng.append("发动机起动正常");
break;
case 0xA1:
eng.append("无法判断发动机正常");
break;
case 0xAF:
eng.append("发动机起动异常");
break;
case 0xC5:
eng.append("发动机转级正常");
break;
case 0xC1:
eng.append("无法判断发动机转级正常");
break;
case 0xCF:
eng.append("发动机转级异常");
break;
case 0xFF:
eng.append("收到飞控指令");
break;
}
//statusui->setEngine(6,eng);//engine
eng.clear();
switch (servo.servo7_raw) {
case 0:
eng.append("待机");
break;
case 1:
eng.append("射检");
break;
case 2:
eng.append("油泵启动");
break;
case 3:
eng.append("启动发动机");
break;
case 4:
eng.append("发动机转速指令");
break;
}
//statusui->setEngine(7,eng);//engine
eng.clear();
switch (servo.servo6_raw) {
case 0:
eng.append("未开伞");
break;
case 1:
eng.append("以开伞");
break;
}
//statusui->setEngine(8,eng);//engine
double fluxsrc = dlink->mavlinknode->vehicleList.value(currentUAV).rpm.rpm3;
double fuelflux = 0;
fuelflux = -4E-07 * fluxsrc * fluxsrc + 0.0189 * fluxsrc - 0.4689;
//statusui->setEngine(9,QString::number(fuelflux,'f',2));//flux
//349kg
qint64 current = QDateTime::currentMSecsSinceEpoch();
double dt = current - lastTime;
lastTime = current;
if(fuelflux >= 0)
{
fuelTotal -= (fuelflux * dt * 0.001 * 0.8 ) / 60.0 ;
}
//statusui->setEngine(10,QString::number(fuelTotal,'f',2));//fuel
//12-16
statusui->setServo(1,servo.servo12_raw);
statusui->setServo(2,servo.servo13_raw);
statusui->setServo(3,servo.servo14_raw);
statusui->setServo(4,servo.servo15_raw);
statusui->setServo(5,servo.servo16_raw);
}
else if(servo.port == 1)
{
//ZUO
//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
//17-19
statusui->setServo(6,servo.servo1_raw);
statusui->setServo(7,servo.servo2_raw);
statusui->setServo(8,servo.servo3_raw);
}
@@ -1192,7 +1080,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
static quint64 lastTime = QDateTime::currentMSecsSinceEpoch();
static qint64 frq_time = 0;
static qint64 frq_time = 0;//5hz
if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 200)
{
return;
@@ -1294,20 +1182,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
gps_str.append(tr("%1").arg(dlink->mavlinknode->vehicleList.value(currentUAV).gps_raw_int.fix_type));
break;
}
copk->setGPS(gps_str);
/*
toolsui->diagram->setTime(3,QTime::fromMSecsSinceStartOfDay(StartupTime->time().msecsTo(QDateTime::currentDateTime().time())));//开车时长
toolsui->diagram->setTime(4,QTime::fromMSecsSinceStartOfDay(FlightTime->time().msecsTo(QDateTime::currentDateTime().time())));//飞行时长
*/
QString arm_str;
arm_str.clear();
@@ -1498,131 +1375,12 @@ void MainWindow::updateUI()//事件驱动式更新数据
menuBarUI->setwp_Dist(((float)dlink->mavlinknode->vehicleList.value(currentUAV).nav_controller_output.wp_dist) * 0.001);
/*
if(MainIndex == 3)//飞行界面
{
//刷新时间1Hz
//显示状态信息 数据链信号状态，定位信号状态，电池状态，解锁状态，剩余飞行时间等
QString message;
message.append(tr("<h6>数据强度：<font color=red>%1</font>\t").arg(QString::number(100)));
message.append(tr("定位类型：<font color=red>%1</font>\t").arg(gps_str));
message.append(tr("卫星数目：<font color=red>%1</font>颗</h6>").arg(QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).gps_raw_int.satellites_visible)));
message.append(tr("<h6>电池电压：<font color=red>%1</font>V\t").arg(QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).sys_status.voltage_battery * 0.001)));
message.append(tr("剩余时间：<font color=red>%1</font></h6>").arg(QString::number(0)));
showMessage(message);
}
*/
/*
//实测,r,le,e,la,a
//有符号16位，-32767 ~ 32767
le = dlink->mavlinknode->vehicleList.value(currentUAV).servo_output_raw.servo1_raw
re =
ru =
la =
ra =
thr = (1000 ~2000)
afb = (1000/2000)
0
0
healt
sbus = feedback (ra)
sbus = feedback (re)
sbus = feedback (ru)
sbus = feedback (la)
15 sbus = feedback (le)
health = 0 000 000 000 000 000 //顺序和上面sbus一样
GBIT zero SBIT
//指令
舵机指令
自检 2004
*/
//toolsui->powersystem->setTurbineState(&dlink->mavlinknode->vehicleList.value(currentUAV).turbinstate);
//toolsui->powersystem->setCCMState(&dlink->mavlinknode->vehicleList.value(currentUAV).ccmstate);
toolsui->powersystem->setMa(dlink->mavlinknode->vehicleList.value(currentUAV).emb_atom_com.mach);
toolsui->powersystem->setAlt(dlink->mavlinknode->vehicleList.value(currentUAV).gps_raw_int.alt * 10e-4);
toolsui->powersystem->setFuel(QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).ccmstate.volts[2],'f',0),
QString::number(dlink->mavlinknode->vehicleList.value(currentUAV).ccmstate.fuel_level * 10.0 / 65536.0f,'f',1));
//toolsui->servosystem->setBUMState(&dlink->mavlinknode->vehicleList.value(currentUAV).bmustate);
bool v28_Low = false,v56_Low = false;
v28_Low = (((float)dlink->mavlinknode->vehicleList.value(currentUAV).bmustate.BAT1_remain_perc * 0.1) < 10)?(false):(true);
v56_Low = (((float)dlink->mavlinknode->vehicleList.value(currentUAV).bmustate.BAT2_remain_perc * 0.1) < 10)?(false):(true);
// qDebug() << "v28_Low" << v28_Low << "v56_Low" << v56_Low;
toolsui->servosystem->setCheckState(1,v28_Low || v56_Low);
toolsui->servosystem->setCheckState(2,v28_Low);
toolsui->servosystem->setCheckState(3,v56_Low);
toolsui->servosystem->setCheckState(4,0);
toolsui->servosystem->setCheckState(5,(dlink->mavlinknode->vehicleList.value(currentUAV).bmustate.p500w_enabled)?(1):(0));
uint32_t health = dlink->mavlinknode->vehicleList.value(currentUAV).sys_status.onboard_control_sensors_health;
uint32_t enabled= dlink->mavlinknode->vehicleList.value(currentUAV).sys_status.onboard_control_sensors_enabled;
if(isCommunicationLost == false)
{
/*
healthui->setState(1,getBit(health,2)?(getBit(health,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//IMU
healthui->setState(2,getBit(health,3)?(getBit(health,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
healthui->setState(3,getBit(health,6)?(getBit(health,5)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//GEAR
healthui->setState(4,getBit(health,9)?(getBit(health,8)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
healthui->setState(5,getBit(health,11)?(getBit(health,10)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//起落架
healthui->setState(6,getBit(health,12)?(HealthUI::state::success):(HealthUI::state::failure));//RC
healthui->setState(7,getBit(health,13)?(HealthUI::state::success):(HealthUI::state::failure));//DLINK
healthui->setState(8,getBit(health,7)?(HealthUI::state::success):(HealthUI::state::failure));//RECORD
healthui->setState(9,getBit(health,4)?(HealthUI::state::warning):(HealthUI::state::success));//使用内置惯导
healthui->setValue(9,getBit(health,4)?(tr("使用外置")):(tr("使用内置")));//sel
healthui->setState(11,getBit(health,14)?(HealthUI::state::failure):(HealthUI::state::success));//开伞
healthui->setState(12,getBit(health,15)?(HealthUI::state::failure):(HealthUI::state::success));//刹车
healthui->setState(13,getBit(health,16)?(HealthUI::state::success):(HealthUI::state::inital));//起落架收到位
healthui->setState(14,getBit(health,17)?(HealthUI::state::success):(HealthUI::state::inital));//起落架放到位
//healthui->setState(15,getBit(health,15)?(getBit(servoHealt,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RU
healthui->setState(16,getBit(health,18)?(HealthUI::state::success):(HealthUI::state::failure));//轮转
healthui->setState(17,getBit(health,19)?(HealthUI::state::success):(HealthUI::state::failure));//左轮载
healthui->setState(18,getBit(health,20)?(HealthUI::state::success):(HealthUI::state::failure));//右轮载
healthui->setState(19,getBit(health,21)?(HealthUI::state::success):(HealthUI::state::failure));//前轮载
healthui->setState(21,getBit(health,22)?(HealthUI::state::success):(HealthUI::state::failure));//开伞
healthui->setState(22,getBit(health,23)?(HealthUI::state::success):(HealthUI::state::failure));//开气囊
healthui->setState(23,getBit(health,24)?(HealthUI::state::success):(HealthUI::state::failure));//充气
healthui->setState(24,getBit(health,25)?(HealthUI::state::success):(HealthUI::state::failure));//抛伞
*/
healthui->setState(1,getBit(health,6)?(getBit(health,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//IMU
healthui->setState(2,getBit(health,7)?(getBit(health,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
healthui->setState(2,getBit(health,7)?(getBit(health,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//NAV
healthui->setState(3,getBit(health,9)?(getBit(health,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//ecu
healthui->setState(4,getBit(health,10)?(getBit(health,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//servo
healthui->setState(5,getBit(health,11)?(getBit(health,5)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//起落架
@@ -1636,8 +1394,6 @@ void MainWindow::updateUI()//事件驱动式更新数据
healthui->setValue(10,getBit(enabled,2)?(tr("正在写入")):(tr("停止写入")));//sel
healthui->setState(11,getBit(health,16)?(HealthUI::state::failure):(HealthUI::state::inital));//气囊充气
healthui->setState(12,getBit(health,17)?(HealthUI::state::failure):(HealthUI::state::inital));//开伞
healthui->setState(13,getBit(health,18)?(HealthUI::state::failure):(HealthUI::state::inital));//切伞
MavLinkNode/mavlinknode.cpp
+24 -20
View File
@@ -499,7 +499,11 @@ void MavLinkNode::CreateCSV(void)
ins2_file->write(ins2_csv);
gps_raw_int_file->write(gps_raw_int_csv);
global_position_int_file->write(global_position_int_csv);
servo_output_raw_file->write(servo_output_raw_csv);
for(int i = 0;i < 10;i++)
{
servo_output_raw_file->write(servo_output_raw_csv[i]);
}
rc_channels_raw_file->write(rc_channels_raw_csv);
nav_controller_output_file->write(nav_controller_output_csv);
airspeed_autocal_file->write(airspeed_autocal_csv);
@@ -559,7 +563,7 @@ void MavLinkNode::process()//线程函数
ins2_csv.append("time_boot_ms,pitch,roll,yaw,lon,lat,alt,v_north,v_up,v_east,gx,gy,gz,ax,ay,az,time,sys,com,gps,bit,seq,eph,epv,svn\n");
gps_raw_int_csv.append("time_usec,lat,lon,alt,eph,epv,vel,cog,fix_type,satellites_visible,alt_ellipsoid,h_acc,v_acc,vel_acc,hdg_acc,yaw\n");
global_position_int_csv.append("time_boot_ms,lat,lon,alt,relative_alt,vx,vy,vz,hdg\n");
servo_output_raw_csv.append("time_usec,port,ch1,ch2,ch3,ch4,ch5,ch6,ch7,ch8,ch9,ch10,ch11,ch12,ch13,ch14,ch15,ch16\n");
servo_output_raw_csv[0].append("time_usec,port,ch1,ch2,ch3,ch4,ch5,ch6,ch7,ch8,ch9,ch10,ch11,ch12,ch13,ch14,ch15,ch16\n");
rc_channels_raw_csv;
nav_controller_output_csv.append("nav_roll,nav_pitch,nav_bearing,target_bearing,wp_dist,alt_err,as_err,xtrack_err\n");
airspeed_autocal_csv.append("vx,vy,vz,diff_pressure,EAS2TAS,ratio,state_x,state_y,state_z,Pax,Pby,Pcz\n");
@@ -1146,24 +1150,24 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
mavlink_msg_servo_output_raw_decode(&msg,&vehicle.servo_output_raw);
servo_output_raw_csv.append(QString::number( vehicle.servo_output_raw.time_usec)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( vehicle.servo_output_raw.port)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo1_raw)/32767.0 * 25.0)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( ((int16_t)vehicle.servo_output_raw.servo2_raw)/32767.0 * 25.0 + 0.35)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo3_raw)/32767.0 * 25.0)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( ((int16_t)vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0 / 1.12 + 1.25)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo5_raw)/32767.0 * 35.0 / 1.117 - 1.2)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number((vehicle.servo_output_raw.servo6_raw - 1000) * 0.1)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(vehicle.servo_output_raw.servo7_raw * 0.01)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(vehicle.servo_output_raw.servo8_raw)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(vehicle.servo_output_raw.servo9_raw)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(vehicle.servo_output_raw.servo10_raw)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 / 1.117 - 1.2)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( ((int16_t)vehicle.servo_output_raw.servo12_raw)/32767.0 * 25.0 + 0.35)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( ((int16_t)vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 / 1.12 + 1.25)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number(-((int16_t)vehicle.servo_output_raw.servo15_raw)/32767.0 * 25.0)); servo_output_raw_csv.append(',');
servo_output_raw_csv.append(QString::number( vehicle.servo_output_raw.servo16_raw)); servo_output_raw_csv.append('\n');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.time_usec)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.port)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo1_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo2_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo3_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo4_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo5_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo6_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo7_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo8_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo9_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo10_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo11_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo12_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo13_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo14_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo15_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append(',');
servo_output_raw_csv[vehicle.servo_output_raw.port].append(QString::number(vehicle.servo_output_raw.servo16_raw)); servo_output_raw_csv[vehicle.servo_output_raw.port].append('\n');
emit signal_servo_output_raw(&vehicle.servo_output_raw);
MavLinkNode/mavlinknode.h
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@@ -126,7 +126,7 @@ public:
QByteArray ins2_csv;
QByteArray gps_raw_int_csv;
QByteArray global_position_int_csv;
QByteArray servo_output_raw_csv;
QByteArray servo_output_raw_csv[10];
QByteArray rc_channels_raw_csv;
QByteArray nav_controller_output_csv;
QByteArray airspeed_autocal_csv;
document/17.软件用户手册.docx
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