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App/App.pro

@@ -65,6 +65,8 @@ LIBS += -L$$PWD/../thirdpart/lib -lqNavigation
 LIBS += -L$$PWD/../thirdpart/lib -lCockpit
 
 
+LIBS += -L$$PWD/../thirdpart/lib -lMavLinkNode
+
 
 #temp file
 DESTDIR         = $$PWD/../app_bin

App/mainwindow.cpp

@@ -13,6 +13,10 @@
 
 #include "Cockpit.h"
 
+
+#include "mavlinknode.h"
+
+
 MainWindow::MainWindow(QWidget *parent)
     : QMainWindow(parent)
 {
@@ -21,7 +25,7 @@ MainWindow::MainWindow(QWidget *parent)
 
     QNavigationWidget *nav = new QNavigationWidget(this);
 
-    Cockpit *copk = new Cockpit(this);
+    copk = new Cockpit(this);
 
     copk->setGeometry(this->width() - copk->width(),0,copk->width(),copk->height());
 
@@ -56,11 +60,7 @@ MainWindow::MainWindow(QWidget *parent)
 
    //this->layout()->addWidget(connectpush);
    //this->layout()->addWidget(disconnectpush);
-    //this->setLayout(layout);
-
-
-
-
+   //this->setLayout(layout);
 }
 
 MainWindow::~MainWindow()
@@ -68,6 +68,20 @@ MainWindow::~MainWindow()
 
 }
 
+
+void MainWindow::resizeEvent(QResizeEvent *e)
+{
+    qDebug() << e;
+
+    copk->setGeometry(this->width() - copk->width(),0,copk->width(),copk->height());
+
+    update();
+
+}
+
+
+
+
 void MainWindow::dlink_triggered()
 {
     //if(dlink->statesPort())

App/mainwindow.h

@@ -3,8 +3,11 @@
 
 #include <QMainWindow>
 
+#include "Cockpit.h"
 
 
+#include "mavlinknode.h"
+
 
 
 
@@ -24,6 +27,13 @@ public slots:
 
     void dlink_triggered();
 
+protected:
+    void resizeEvent(QResizeEvent * e);
+
+protected:
+
+    Cockpit *copk;
+
 
 };
 

Cockpit/Cockpit.cpp

@@ -87,22 +87,23 @@ Cockpit::Cockpit(QWidget *parent): QWidget(parent)
     m_LedColor = Qt::green;
 
     setMinimumSize(QSize(10, 10));
-    resize(200, 200);
+    resize(600, 200);
 }
 
 
 void Cockpit::mouseReleaseEvent(QMouseEvent *e)
 {
     qDebug() << "release" << e;
+    update();
 }
 
 void Cockpit::mousePressEvent(QMouseEvent *e)
 {
-    qDebug() << "press" << this->pos() << e->localPos() << e->screenPos();
+    qDebug() << "press" << e;
     m_LedColor = Qt::blue;
 
     m_c = this->pos();
-
+    update();
 }
 
 void Cockpit::mouseDoubleClickEvent(QMouseEvent *e)
@@ -119,12 +120,28 @@ void Cockpit::wheelEvent(QWheelEvent *e)
 void Cockpit::setPitch(double Pitch)
 {
         m_Attitude.pitch = Pitch;
+        if(m_Attitude.pitch < -90)
+        {
+            m_Attitude.pitch += 180;
+        }
+        else if(m_Attitude.pitch > 90)
+        {
+            m_Attitude.pitch -= 180;
+        }
         update();
 }
 
 void Cockpit::setRoll(double Roll)
 {
         m_Attitude.roll = Roll;
+        if(m_Attitude.roll < -180)
+        {
+            m_Attitude.roll += 360;
+        }
+        else if(m_Attitude.roll > 180)
+        {
+            m_Attitude.roll -= 360;
+        }
         update();
 }
 
@@ -141,14 +158,9 @@ void Cockpit::setYaw(double Yaw)
 
 void Cockpit::setAttitude(double Pitch,double Roll,double Yaw)
 {
-    m_Attitude.pitch = Pitch;
-    m_Attitude.roll = Roll;
-    m_Attitude.yaw = Yaw;
-    if(m_Attitude.yaw < 0)
-    {
-        m_Attitude.yaw += 360;
-    }
-    update();
+    setPitch(Pitch);
+    setRoll(Roll);
+    setYaw(Yaw);
 }
 
 void Cockpit::setAttitudeSpeed(double PitchSpeed,double RollSpeed,double YawSpeed)
@@ -212,7 +224,8 @@ void Cockpit::paintEvent(QPaintEvent *)
 {
     QPainter painter(this);
     painter.setRenderHint(QPainter::Antialiasing); 	/* 使用反锯齿(如果可用) */
-    painter.translate(width() / 2, height() / 2);	/* 坐标变换为窗体中心 */
+
+    painter.translate(width() / 2, 2 * height() / 5);	/* 坐标变换为窗体中心 */
     int side = qMin(width(), height());                 /* 这一句决定了这个模块只能是方形 */
     painter.scale(side / 2000.0, side / 2000.0);	/* 比例缩放 */
     painter.setPen(Qt::NoPen);

Cockpit/Cockpit.h

@@ -68,6 +68,7 @@ public Q_SLOTS:
     void setYaw(double Yaw);
     void setAttitude(double Pitch,double Roll,double Yaw);
     void setAttitudeSpeed(double PitchSpeed,double RollSpeed,double YawSpeed);
+
     void setGPSCourse(double Course);
     void setGPSSVN(int Number);
     void setGPSAltitude(double Altitude);

GCS.pro

@@ -9,3 +9,7 @@ SUBDIRS += Skin
 SUBDIRS += qnavigationwidget
 
 SUBDIRS += Cockpit
+
+
+SUBDIRS += MavLinkNode
+

MavLinkNode/MavLinkNode.pro

@@ -0,0 +1,76 @@
+
+
+
+
+
+
+QT    += core gui network
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+
+
+TARGET = MavlinkNode
+TEMPLATE = lib
+
+DEFINES += MAV_LIBRARY
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which has been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+
+
+
+
+DESTDIR         = $$PWD/../thirdpart/lib
+MOC_DIR         = $$PWD/../build
+OBJECTS_DIR     = $$PWD/../build
+
+DEFINES         += QtMavlinkNode
+
+win32 {
+    src_dir = $$PWD\\*.h
+    dst_dir = $$PWD\\..\\thirdpart\\include\\
+    # dst_dir 最后的 \\ 是必须的，用来标示 xcopy 到一个文件夹，若不存在，创建之
+
+    # Replace slashes in paths with backslashes for Windows
+    src_dir ~= s,/,\\,g
+    dst_dir ~= s,/,\\,g
+
+    system(xcopy $$src_dir $$dst_dir /y /e)
+}
+
+HEADERS += \
+    mavlinknode.h
+
+SOURCES += \
+    mavlinknode.cpp
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

MavLinkNode/mavlinknode.cpp

@@ -1,6 +1,39 @@
-#include "mavlinknode.h"
+#include "mavlinknode.h"
 
 MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
 {
-
+      this->run();
 }
+
+
+
+
+
+
+
+int MavLinkNode::run()//线程函数
+{
+       while(1)
+       {
+            qDebug() << "run 1ms";
+            QThread::sleep(1);
+       }
+
+       return 0;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

MavLinkNode/mavlinknode.h

@@ -1,7 +1,11 @@
-#ifndef MAVLINKNODE_H
+#ifndef MAVLINKNODE_H
 #define MAVLINKNODE_H
 
 #include <QObject>
+#include "QThread"
+
+#include "QDebug"
+
 
 class MavLinkNode : public QObject
 {
@@ -9,9 +13,21 @@ class MavLinkNode : public QObject
 public:
     explicit MavLinkNode(QObject *parent = nullptr);
 
+
+
+
+
 signals:
 
 public slots:
+
+
+protected:
+    int run();
+
+
+
+
 };
 
 #endif // MAVLINKNODE_H