hm/gcs-nf
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

备份

Browse Source
This commit is contained in:
hm
2022-08-16 20:35:36 +08:00
parent 49eb2c7215
commit c96e464220
14 changed files with 643 additions and 498 deletions
Download Patch File Download Diff File Expand all files Collapse all files
App/CommandBox/CommandBox.cpp
+43 -4
View File
@@ -48,6 +48,17 @@ CommandBox::CommandBox(QWidget *parent) :
m_re = 0;
m_le = 0;
/*
QRegExp *reg = new QRegExp("^(-?\d+)(\.\d+)?$");
ui->lineEdit_msl_in->setValidator(QRegExpValidator(reg));
ui->lineEdit_Ma_in->setValidator(QRegExpValidator(reg));
ui->lineEdit_Ps_in->setValidator(QRegExpValidator(reg));
ui->lineEdit_qbar_in->setValidator(QRegExpValidator(reg));
*/
}
CommandBox::~CommandBox()
@@ -509,14 +520,32 @@ void CommandBox::on_pushButton_HeatOff_clicked()
}
void CommandBox::on_pushButton_setStructSweepParameter_clicked()
{
float msl_in = ui->lineEdit_msl_in->text().toDouble();
float ma_in = ui->lineEdit_Ma_in->text().toDouble();
float ps_in = ui->lineEdit_Ps_in->text().toDouble();
float qbar_in = ui->lineEdit_qbar_in->text().toDouble();
on_commandClicked(tr("设定 %1").arg(ui->pushButton_setStructSweepParameter->text()),
msl_in,ma_in,ps_in,qbar_in,0,0,0,20014,0);
qDebug() << "StructSweep:" <<msl_in << ma_in << ps_in << qbar_in;
}
void CommandBox::on_pushButton_test_cmd_clicked()
{
uint8_t ch = 0;
float A;
float Amp;
float start;
float stop;
float K;
float type;
float hlre;
type = ui->comboBox_ActuatorType->currentData().toFloat();
@@ -526,26 +555,36 @@ void CommandBox::on_pushButton_test_cmd_clicked()
/* 1 ail
* 2 ele
* 4 rud
* 8 dsp
*
* */
ch |= ui->checkBox_ail->isChecked()?(1):(0);
ch |= ui->checkBox_ele->isChecked()?(2):(0);
ch |= ui->checkBox_rud->isChecked()?(4):(0);
ch |= ui->checkBox_dsp->isChecked()?(8):(0);
qDebug() << "ch" << ch;
A = ui->doubleSpinBox_A_deg->value();
Amp = ui->doubleSpinBox_A_deg->value();
start = ui->doubleSpinBox__Start_frq_Hz->value();
stop = ui->doubleSpinBox_Stop_frq_Hz->value();
K = ui->doubleSpinBox_K_frq_Hz->value();
quint16 hldn = ui->spinBox_hldn->value();
quint16 recn = ui->spinBox_recn->value();
hlre = ((quint16)recn << 8)|hldn;
on_commandClicked(tr("设定 %1").arg(ui->pushButton_test_cmd->text()),
ch,A,start,stop,K,type,0,20009,0);
ch,Amp,start,stop,K,type,hlre,20013,0);
qDebug() << "Servo Test:" <<ch << A << start << stop << K << type;
qDebug() << "Servo Test:" <<ch << Amp << start << stop << K << type << hlre;
}
void CommandBox::on_pushButton_test_stop_clicked()
{
App/CommandBox/CommandBox.h
+2
View File
@@ -89,6 +89,8 @@ private slots:
void on_pushButton_ZeroComplete_clicked();
void on_pushButton_setStructSweepParameter_clicked();
private:
bool floatflag = true;
App/CommandBox/CommandBox.ui
+331 -250
View File
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>410</width>
<height>584</height>
<width>391</width>
<height>896</height>
</rect>
</property>
<property name="windowTitle">
@@ -38,151 +38,8 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_14">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>待发指令</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_CommandName">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_SendCommand">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(85, 255, 127);</string>
</property>
<property name="text">
<string>发送</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Cancel">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 140, 142);</string>
</property>
<property name="text">
<string>取消</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_6">
<item row="2" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>参数设置</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<property name="spacing">
<number>12</number>
</property>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_IMU"/>
</item>
<item row="2" column="4">
<widget class="QPushButton" name="pushButton_IAS_SEL_2">
<property name="text">
<string>外置大气机</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>选择惯导</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>无人机#</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_sys"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton_IAS_SEL_1">
<property name="text">
<string>内置大气机</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>IAS_SEL</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_IMU">
<property name="text">
<string>选择</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_IAS_SEL_0">
<property name="text">
<string>地速算空速</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout_13">
<item row="3" column="0">
@@ -261,106 +118,14 @@
<property name="spacing">
<number>12</number>
</property>
<item row="7" column="1">
<widget class="QPushButton" name="pushButton_test_stop">
<property name="text">
<string>停止测试</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout_12">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_ail">
<property name="text">
<string>副翼</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_ele">
<property name="text">
<string>升降</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QCheckBox" name="checkBox_rud">
<property name="text">
<string>方向舵</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox__Start_frq_Hz">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<item row="9" column="1">
<widget class="QSpinBox" name="spinBox_recn">
<property name="maximum">
<double>9999.000000000000000</double>
<number>255</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QPushButton" name="pushButton_test_cmd">
<property name="text">
<string>开始测试</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_A_deg">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_Stop_frq_Hz">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>结束频率（Hz）</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>扫频频率变化率（Hz/s）</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>幅值</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_K_frq_Hz">
<property name="decimals">
<number>3</number>
@@ -373,23 +138,222 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>开始频率（Hz）</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>类型</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="9" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>数据处理周期</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>开始频率（Hz）</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QPushButton" name="pushButton_test_stop">
<property name="text">
<string>停止测试</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox__Start_frq_Hz">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout_12">
<item row="0" column="2">
<widget class="QCheckBox" name="checkBox_rud">
<property name="text">
<string>方向舵</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_ele">
<property name="text">
<string>升降</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_ail">
<property name="text">
<string>副翼</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QCheckBox" name="checkBox_dsp">
<property name="text">
<string>扰流板</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="10" column="0">
<widget class="QPushButton" name="pushButton_test_cmd">
<property name="text">
<string>开始测试</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>幅值</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_A_deg">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_Stop_frq_Hz">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QSpinBox" name="spinBox_hldn">
<property name="maximum">
<number>255</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>结束频率（Hz）</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QComboBox" name="comboBox_ActuatorType"/>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>扫频频率变化率（Hz/s）</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>数据过渡周期</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>结构模态扫频飞行状态设定</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>动压（Pa）</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>马赫数（Ma）</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>海拔高度（m）</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>静压（Pa）</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_msl_in">
<property name="text">
<string>11000</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_Ma_in">
<property name="text">
<string>0.8</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_Ps_in">
<property name="text">
<string>22639</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_qbar_in">
<property name="text">
<string>11871</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="pushButton_setStructSweepParameter">
<property name="text">
<string>setStructSweepParameter</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
@@ -441,6 +405,123 @@
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>参数设置</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<property name="spacing">
<number>12</number>
</property>
<item row="1" column="1">
<widget class="QComboBox" name="comboBox_IMU"/>
</item>
<item row="2" column="4">
<widget class="QPushButton" name="pushButton_IAS_SEL_2">
<property name="text">
<string>外置大气机</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>选择惯导</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>无人机#</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_sys"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="pushButton_IAS_SEL_1">
<property name="text">
<string>内置大气机</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>IAS_SEL</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_IMU">
<property name="text">
<string>选择</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_IAS_SEL_0">
<property name="text">
<string>地速算空速</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>待发指令</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_CommandName">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_SendCommand">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(85, 255, 127);</string>
</property>
<property name="text">
<string>发送</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_Cancel">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>150</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 140, 142);</string>
</property>
<property name="text">
<string>取消</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="2">
App/ComponentUI/Inputter/Inputter.ui
+7 -7
View File
@@ -41,13 +41,6 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="2" column="0">
<widget class="QLabel" name="label_decription">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLineEdit" name="lineEdit">
<property name="minimumSize">
@@ -69,6 +62,13 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_decription">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="3">
App/HealthUI/HealthUI.cpp
-23
View File
@@ -62,29 +62,6 @@ HealthUI::HealthUI(QWidget *parent) :
Install("刹车开启",index++,state::inital);
/*
Install("右前舱门",index++,state::inital);//35
//======================================
Install("前起承载",index++,state::inital);
Install("前起放下",index++,state::inital);
Install("前起收起",index++,state::inital);
Install("前起锁定",index++,state::inital);
Install("左前舱门",index++,state::inital);//40
Install("左主起承载",index++,state::inital);
Install("左主起放下",index++,state::inital);
Install("左主起收起",index++,state::inital);
Install("左主起锁定",index++,state::inital);
Install("左主起舱门",index++,state::inital);//45
Install("右主起承载",index++,state::inital);
Install("右主起放下",index++,state::inital);
Install("右主起收起",index++,state::inital);
Install("右主起锁定",index++,state::inital);
Install("右主起舱门",index++,state::inital);//50
*/
//通过json安装
App/StatusUI/StatusUI.cpp
-4
View File
@@ -17,13 +17,9 @@ StatusUI::StatusUI(QWidget *parent) :
int id_count = 0;
//StateGroup *mode = new StateGroup(id_count++,this);
StateGroup *base = new StateGroup(id_count++,this);
StateGroup *actuator = new StateGroup(id_count++,this);
//StateGroup *e_fly = new StateGroup(id_count++,this);
StateGroup *state = new StateGroup(id_count++,this);
//StateGroup *battery = new StateGroup(id_count++,this);
//StateGroup *communication = new StateGroup(id_count++,this);
App/ToolsUI/ECU/ECU.cpp
+4 -4
View File
@@ -671,19 +671,19 @@ void ECU::SSPC_Info_state(Parse::_sspc info)
switch (info.source&0x03) {
case 0x00:
setValue(ui->checkBox_source,tr("电源:无"));
setValue(ui->checkBox_source,tr("无"));
setColor(ui->checkBox_source,failure);
break;
case 0x01:
setValue(ui->checkBox_source,tr("电源:地面电源供电"));
setValue(ui->checkBox_source,tr("地面电源供电"));
setColor(ui->checkBox_source,warning);
break;
case 0x02:
setValue(ui->checkBox_source,tr("电源:主电源供电"));
setValue(ui->checkBox_source,tr("主电源供电"));
setColor(ui->checkBox_source,success);
break;
case 0x03:
setValue(ui->checkBox_source,tr("电源:蓄电池供电"));
setValue(ui->checkBox_source,tr("蓄电池供电"));
setColor(ui->checkBox_source,warning);
break;
}
App/ToolsUI/LandingGear_AJ500/landinggear.cpp
+2
View File
@@ -266,6 +266,8 @@ void landinggear::actuator_info(Parse::_actuator info)
ui->label_0_status->setText(QString::number(info.status));
ui->label_0_current->setText(QString::number(info.current,'f',1));
ui->label_0_temp->setText(QString::number(info.temp));
ui->label_0_left_brake->setText((info.left_brake == 0x11)?("关闭制动器"):("打开制动器"));
ui->label_0_right_brake->setText((info.right_brake == 0x11)?("关闭制动器"):("打开制动器"));
}
App/ToolsUI/LandingGear_AJ500/landinggear.ui
+94 -54
View File
@@ -819,27 +819,6 @@
<string>转向变体舵机</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="3" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>左变体</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>工作状态</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>右变体</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_0_id">
<property name="minimumSize">
@@ -859,8 +838,8 @@
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_0_current">
<item row="0" column="1">
<widget class="QLabel" name="label_0_type">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
@@ -872,20 +851,6 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>电流信息</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>温度信息</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_0_wheel">
<property name="styleSheet">
@@ -899,19 +864,6 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_0_temp">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</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_46">
<property name="minimumSize">
@@ -925,6 +877,26 @@
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_0_current">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>温度信息</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
@@ -932,8 +904,8 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_0_trans_left">
<item row="7" column="1">
<widget class="QLabel" name="label_0_temp">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
@@ -958,6 +930,33 @@
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>工作状态</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_0_trans_left">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>左变体制动</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_0_trans_right">
<property name="styleSheet">
@@ -971,6 +970,27 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>右变体</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>电流信息</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>左变体</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
@@ -978,8 +998,28 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_0_type">
<item row="9" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>右变体制动</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_0_left_brake">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_0_right_brake">
<property name="styleSheet">
<string notr="true">background-color: rgb(205, 205, 205);</string>
</property>
App/ToolsUI/Parse.cpp
+14 -9
View File
@@ -475,7 +475,7 @@ void Parse::run()
{
union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
QByteArray data = raw.mid(110);
QByteArray data = raw.mid(115);
_actuator group;
int data_count = 0;
@@ -487,15 +487,15 @@ void Parse::run()
src.B[0] = data[data_count++];
src.B[1] = data[data_count++];
group.wheel = src.i[0] * 60.0 / 0x7FF;
group.wheel = src.i[0];
src.B[0] = data[data_count++];
src.B[1] = data[data_count++];
group.left_trans = src.i[0] * 55.0 / 0x7FF;
group.left_trans = src.i[0];
src.B[0] = data[data_count++];
src.B[1] = data[data_count++];
group.right_trans = src.i[0] * 55.0 / 0x7FF;
group.right_trans = src.i[0];
group.status = data[data_count++];
@@ -505,6 +505,9 @@ void Parse::run()
group.temp = data[data_count++];
group.left_brake = data[data_count++];
group.right_brake = data[data_count++];
emit actuator_info(group);
}
@@ -513,7 +516,7 @@ void Parse::run()
{
union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
QByteArray data = raw.mid(122);
QByteArray data = raw.mid(127);
_actuator1 group;
int data_count = 0;
@@ -553,7 +556,7 @@ void Parse::run()
{
union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
QByteArray data = raw.mid(136);
QByteArray data = raw.mid(141);
_actuator2 group;
int data_count = 0;
@@ -612,7 +615,7 @@ void Parse::run()
};
}status;
QByteArray data = raw.mid(150);
QByteArray data = raw.mid(155);
_imu group;
int data_count = 0;
@@ -757,7 +760,7 @@ void Parse::run()
};
}status;
QByteArray data = raw.mid(208);
QByteArray data = raw.mid(213);
_euler group;
int data_count = 0;
@@ -857,7 +860,7 @@ void Parse::run()
{
union{uint8_t B[4];uint16_t I[2]; int16_t i[2]; uint32_t H; int32_t h;float F;}src;
QByteArray data = raw.mid(240);
QByteArray data = raw.mid(245);
_euler group;
int data_count = 0;
@@ -1232,6 +1235,8 @@ void Parse::run()
group.current = src.i[0];
group.temp = data[data_count++];
group.left_brake = data[data_count++];
group.right_brake = data[data_count++];
emit actuator_info(group);
App/ToolsUI/Parse.h
+2
View File
@@ -114,6 +114,8 @@ public:
quint8 status;
quint16 current;
qint8 temp;
qint8 left_brake;
qint8 right_brake;
}_actuator;
App/main.cpp
+43 -43
View File
@@ -87,6 +87,35 @@ void CheckDirs(const QString &path, const QStringList &dirs) {
}
}
QStringList getFiles(const QString &filePath,const QString &fileSuffix)
{
QStringList list;
list.clear();
QDir Dir(filePath); //查看工作路径是否存在
if(!Dir.exists()){ return list;} //如果文件夹不存在则返回
Dir.setFilter(QDir::Files); //设置过滤器只查看文件
QStringList filelist = Dir.entryList(QDir::Files); //获取所有文件
foreach (QFileInfo file, filelist) //遍历只加载.txt到文件列表
{
if(file.fileName().split(".").back() == fileSuffix) //判断进行再次确认是.fileSuffix
{
list.push_back(file.absoluteFilePath());
}
}
return list;
}
void setLibPath(void)
{
QString strLibPath(QDir::toNativeSeparators(QApplication::applicationDirPath()) + QDir::separator() + "plugins");
QApplication::addLibraryPath(strLibPath);
qDebug() << strLibPath;
}
void LoadLang(QApplication *a)
{
@@ -102,30 +131,25 @@ void LoadLang(QApplication *a)
qWarning() << "Fail to load translator " <<lang << " from " << QLibraryInfo::location(QLibraryInfo::TranslationsPath);
}
QTranslator * myappTranslator = new QTranslator{};
lang = "GCS_" + QLocale::system().name();
if (myappTranslator->load(lang, QCoreApplication::applicationDirPath())
&& a->installTranslator(myappTranslator))
{
qDebug() << "Success to load translator " <<lang << " from " << QCoreApplication::applicationDirPath();
}
else
{
qWarning() << "Fail to load translator " <<lang << " from " << QCoreApplication::applicationDirPath();
//导入全部的翻译文件
QStringList filelist = getFiles("./","qm");
foreach (QString lang, filelist) {
QTranslator * Translator = new QTranslator{};
if (Translator->load(lang, QCoreApplication::applicationDirPath())
&& a->installTranslator(Translator))
{
qDebug() << "load translator " <<lang << " from " << QCoreApplication::applicationDirPath();
}
}
}
void RegisterType(void)
{
//qmlRegisterModule("Drivers.LinkUI",1,0);
//qmlRegisterType<LinkUI>("Drivers.LinkUI",1,0,"LinkUI");
qDebug() << "register qml type";
}
@@ -133,47 +157,23 @@ int main(int argc, char *argv[])
{
QApplication a(argc, argv);
QTranslator translator;
translator.load(":/qm/GCS_zh_CN.qm");
a.installTranslator(&translator);
QString strLibPath(QDir::toNativeSeparators(QApplication::applicationDirPath()) + QDir::separator() + "plugins");
QApplication::addLibraryPath(strLibPath);
qDebug() << strLibPath;
a.setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
QTextCodec::setCodecForLocale(QTextCodec::codecForName("utf8"));
setLibPath();
LoadLang(&a);
RegisterType();
QStringList l = QStyleFactory::keys();
foreach (QString s, l) {
qDebug() << s;
}
//QApplication::setStyle(QStyleFactory::create("fusion"));
MainWindow w;//这一步已经全部初始化完成
w.setWindowTitle(QString("GCS Qt%1 %2").arg(QT_VERSION_STR).arg(APP_VERSION));//with version
//w.setWindowTitle(QString("KB3A-V1.00 %1").arg(APP_VERSION));//with version
// 主要是控制HDMI输出，如果是LCD显示，此行无关紧要
w.resize(GetDesktopSize());
QScreen *screen=QGuiApplication::primaryScreen ();;
w.move((screen->availableGeometry().width()-w.width())/2,(screen->availableGeometry().height()-w.height())/2);
//qDebug() << screen;
//w.setWindowState(Qt::WindowMaximized);
w.show();
return a.exec();
App/mainwindow.cpp
+100 -99
View File
@@ -1229,38 +1229,50 @@ void MainWindow::update_servo_output_raw(mavlink_servo_output_raw_t servo)
if(servo.port == 0)
{
//12-16
statusui->setValue(2,0,QString::number((((((int16_t)servo.servo1_raw) * (ch1.le/32767.0)/ch1.kd) + ch1.d0) * 57.3),'f',2) + '|'
+ QString::number((((((int16_t)servo.servo13_raw) * (ch1.le/32767.0)/ch1.kd) + ch1.d0) * 57.3),'f',2));//8000H~7FFFH -38°~38° 1LSB=38/32767
/*
statusui->setValue(2,1,QString::number(((int16_t)servo.servo2_raw) * 88.0 / 32767.0,'f',2) + '|'
+ QString::number(((int16_t)servo.servo14_raw) * 88.0 / 32767.0,'f',2));//88/32767
*/
statusui->setValue(1,0,QString::number(pwm2angle_2((int16_t)servo.servo1_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo9_raw,1,1,1),'f',2));
statusui->setValue(2,2,QString::number((((((int16_t)servo.servo3_raw) * (ch3.le/32767.0)/ch3.kd) + ch3.d0) * 57.3),'f',2) + '|'
+ QString::number((((((int16_t)servo.servo15_raw) * (ch3.le/32767.0)/ch3.kd) + ch3.d0) * 57.3),'f',2));//直线舵机
statusui->setValue(1,1,QString::number(pwm2angle_2((int16_t)servo.servo2_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo10_raw,1,1,1),'f',2));
statusui->setValue(2,4,QString::number((((((int16_t)servo.servo4_raw) * (ch4.le/32767.0)/ch4.kd) + ch4.d0) * 57.3),'f',2) + '|'
+ QString::number((((((int16_t)servo.servo16_raw) * (ch4.le/32767.0)/ch4.kd) + ch4.d0) * 57.3),'f',2));
statusui->setValue(1,2,QString::number(pwm2angle_2((int16_t)servo.servo3_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo11_raw,1,1,1),'f',2));
statusui->setValue(1,3,QString::number(pwm2angle_2((int16_t)servo.servo4_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo12_raw,1,1,1),'f',2));
statusui->setValue(1,4,QString::number(pwm2angle_2((int16_t)servo.servo5_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo13_raw,1,1,1),'f',2));
statusui->setValue(1,5,QString::number(pwm2angle_2((int16_t)servo.servo6_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo14_raw,1,1,1),'f',2));
statusui->setValue(1,6,QString::number(pwm2angle_2((int16_t)servo.servo7_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo15_raw,1,1,1),'f',2));
statusui->setValue(1,7,QString::number(pwm2angle_2((int16_t)servo.servo8_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo16_raw,1,1,1),'f',2));
raw_ch1 = QString::number((((((int16_t)servo.servo5_raw) * (ch5.le/32767.0)/ch5.kd) + ch5.d0) * 57.3),'f',2);
//raw_ch2 = QString::number(((int16_t)servo.servo6_raw) * 88.0 / 32767.0,'f',2);
raw_ch3 = QString::number((((((int16_t)servo.servo7_raw) * (ch7.le/32767.0)/ch7.kd) + ch7.d0) * 57.3),'f',2);
raw_ch4 = QString::number((((((int16_t)servo.servo8_raw) * (ch8.le/32767.0)/ch8.kd) + ch8.d0) * 57.3),'f',2);
}
else if(servo.port == 1)
{
//17-19
statusui->setValue(2,1,raw_ch1 + '|' + QString::number((((((int16_t)servo.servo1_raw) * (ch5.le/32767.0)/ch5.kd) + ch5.d0) * 57.3),'f',2));
//statusui->setValue(2,5,raw_ch2 + '|' + QString::number(((int16_t)servo.servo2_raw) * 88.0 / 32767.0,'f',2));
statusui->setValue(2,3,raw_ch3 + '|' + QString::number((((((int16_t)servo.servo3_raw) * (ch7.le/32767.0)/ch7.kd) + ch7.d0) * 57.3),'f',2));
statusui->setValue(2,5,raw_ch4 + '|' + QString::number((((((int16_t)servo.servo4_raw) * (ch8.le/32767.0)/ch8.kd) + ch8.d0) * 57.3),'f',2));
statusui->setValue(1,8,QString::number(pwm2angle_2((int16_t)servo.servo1_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo4_raw,1,1,1),'f',2));
statusui->setValue(1,9,QString::number(pwm2angle_2((int16_t)servo.servo2_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo5_raw,1,1,1),'f',2));
statusui->setValue(1,10,QString::number(pwm2angle_2((int16_t)servo.servo3_raw,1,1,1),'f',2) + '|'
+ QString::number(pwm2angle_2((int16_t)servo.servo6_raw,1,1,1),'f',2));
emit setECUTemp(servo.servo13_raw,servo.servo14_raw);
emit setECUTemp(servo.servo13_raw,servo.servo14_raw);
}
}
@@ -1602,76 +1614,53 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
if(isCommunicationLost == false)
{
quint16 indexCount = 1;
healthui->setColor(indexCount++,getBit(present,0)?(getBit(present,6)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//EADC
healthui->setColor(indexCount++,getBit(present,1)?(getBit(present,7)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
healthui->setColor(indexCount++,getBit(present,2)?(getBit(present,8)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//ECU
healthui->setColor(indexCount++,getBit(present,3)?(getBit(present,9)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//INE
healthui->setColor(indexCount++,getBit(present,1)?(getBit(present,7)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
healthui->setColor(indexCount++,getBit(present,0)?(getBit(present,6)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//EADC
healthui->setColor(indexCount++,getBit(present,14)?(getBit(present,15)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//gear
healthui->setColor(indexCount++,getBit(present,4)?(getBit(present,10)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SSPC
healthui->setColor(indexCount++,getBit(present,5)?(getBit(present,11)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//REC
healthui->setColor(indexCount++,getBit(present,12)?(HealthUI::state::success):(HealthUI::state::inital));//ECU射检
healthui->setColor(indexCount++,getBit(present,13)?(HealthUI::state::success):(HealthUI::state::inital));//REC记录
healthui->setColor(indexCount++,getBit(present,14)?(getBit(present,15)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//gear
healthui->setColor(indexCount++,getBit(present,2)?(getBit(present,8)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//ECU
healthui->setColor(indexCount++,getBit(present,16)?(getBit(present,17)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//act
healthui->setColor(indexCount++,getBit(present,18)?(getBit(present,19)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//act1
healthui->setColor(indexCount++,getBit(present,20)?(getBit(present,21)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//act2
healthui->setColor(indexCount++,getBit(present,13)?(HealthUI::state::success):(HealthUI::state::inital));//REC记录
healthui->setColor(indexCount++,getBit(present,12)?(HealthUI::state::success):(HealthUI::state::inital));//ECU射检
healthui->setColor(indexCount++,getBit(present,22)?(HealthUI::state::success):(HealthUI::state::inital));//act自检
healthui->setColor(indexCount++,getBit(present,23)?(HealthUI::state::success):(HealthUI::state::inital));//act1自检
healthui->setColor(indexCount++,getBit(present,24)?(HealthUI::state::success):(HealthUI::state::inital));//act2自检
healthui->setColor(indexCount++,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::inital));//eadc加温
healthui->setValue(indexCount, getBit(present,30)?("使用320"):("使用SBG"));//使用320/使用SBG
healthui->setColor(indexCount++,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::warning));//使用320/使用SBG
healthui->setColor(indexCount++,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::inital));//空速管加温
healthui->setColor(indexCount++,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::inital));//插销上锁
healthui->setColor(indexCount++,getBit(present,28)?(HealthUI::state::success):(HealthUI::state::inital));//变体上锁
healthui->setColor(indexCount++,getBit(present,29)?(getBit(present,30)?(HealthUI::state::success):(HealthUI::state::failure)):(HealthUI::state::success));//56V并网
healthui->setColor(indexCount,getBit(present,27)?(getBit(present,26)?(HealthUI::state::warning):(HealthUI::state::success)):(HealthUI::state::failure));//EADC
healthui->setValue(indexCount++,getBit(present,27)?(getBit(present,26)?("EADC故障"):("EADC正常")):("EADC失效"));//eadc
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//燃油泵
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//燃油切断阀
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//温度变送器
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//开伞
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//切伞
healthui->setColor(indexCount++,getBit(present,28)?(HealthUI::state::success):(HealthUI::state::inital));//INE进入导航
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//蓄电池加温
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//刹车/收放
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//滑油变送器
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//起落架放
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//舱门打开
healthui->setColor(indexCount,getBit(present,29)?(getBit(present,30)?(HealthUI::state::success):(HealthUI::state::failure)):(HealthUI::state::success));//INE导航状态
healthui->setValue(indexCount++,getBit(present,29)?(getBit(present,30)?("INE差分导航"):("未进入导航")):("INE卫星导航"));//INE导航状态
healthui->setColor(indexCount,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//INE定向状态
healthui->setValue(indexCount++,getBit(present,31)?("INE定向"):("INE未定向"));//INE导航状态
healthui->setColor(indexCount++,getBit(enabled,0)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,1)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,2)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,3)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,4)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,5)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,6)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,7)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,8)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,9)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,10)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,11)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,12)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,13)?(HealthUI::state::success):(HealthUI::state::inital));//
healthui->setColor(indexCount++,getBit(enabled,24)?(HealthUI::state::inital):(HealthUI::state::success));//右前舱门
healthui->setColor(indexCount++,getBit(enabled,23)?(HealthUI::state::success):(HealthUI::state::inital));//承载
healthui->setColor(indexCount++,getBit(enabled,22)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,21)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,20)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,19)?(HealthUI::state::inital):(HealthUI::state::success));//40
healthui->setColor(indexCount++,getBit(enabled,18)?(HealthUI::state::success):(HealthUI::state::inital));//承载
healthui->setColor(indexCount++,getBit(enabled,17)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,16)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,31)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,30)?(HealthUI::state::inital):(HealthUI::state::success));//45
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//副翼/方向
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//扰流/升降
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//转向/变体
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//起落架承载
healthui->setColor(indexCount++,getBit(present,31)?(HealthUI::state::success):(HealthUI::state::inital));//刹车开启
healthui->setColor(indexCount++,getBit(enabled,29)?(HealthUI::state::success):(HealthUI::state::inital));//承载
healthui->setColor(indexCount++,getBit(enabled,28)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,27)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,26)?(HealthUI::state::inital):(HealthUI::state::success));//
healthui->setColor(indexCount++,getBit(enabled,25)?(HealthUI::state::inital):(HealthUI::state::success));//50
/*
qDebug() << "main" << QString::number(enabled,16).toUpper() << indexCount;
@@ -1687,37 +1676,49 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
//===================status ui =============================================
//========================0
statusui->setValue(0,0,mode_str);
//========================1
statusui->setValue(1,0,QString::number(vehicle.emb_atom_com.alpha,'f',1));
statusui->setValue(1,1,QString::number(vehicle.emb_atom_com.beta,'f',1));
statusui->setValue(1,2,QString::number(vehicle.attitude.roll * 57.3,'f',1));
statusui->setValue(1,3,QString::number(vehicle.attitude.pitch * 57.3,'f',1));
statusui->setValue(1,4,QString::number(vehicle.gps_raw_int.cog * 0.01,'f',1));
statusui->setValue(1,5,QString::number(vehicle.gps_raw_int.alt * 10e-4,'f',1));
statusui->setValue(1,6,QString::number(vehicle.vfr_hud.airspeed,'f',1));
statusui->setValue(1,7,QString::number(vehicle.emb_atom_com.Airspeed,'f',1));
statusui->setValue(1,8,QString::number(vehicle.gps_raw_int.vel * 10e-3,'f',1));
statusui->setValue(1,9,QString::number(vehicle.emb_atom_com.mach,'f',2));
statusui->setValue(1,10,QString::number(-vehicle.global_position_int.vz * 10e-3,'f',1));
statusui->setValue(0,0,QString::number(vehicle.emb_atom_com.alpha,'f',1));
statusui->setValue(0,1,QString::number(vehicle.emb_atom_com.beta,'f',1));
statusui->setValue(0,2,QString::number(vehicle.attitude.roll * 57.3,'f',1));
statusui->setValue(0,3,QString::number(vehicle.attitude.pitch * 57.3,'f',1));
statusui->setValue(0,4,QString::number(vehicle.gps_raw_int.cog * 0.01,'f',1));
statusui->setValue(0,5,QString::number(vehicle.gps_raw_int.alt * 10e-4,'f',1));
statusui->setValue(0,6,QString::number(vehicle.vfr_hud.airspeed,'f',1));
statusui->setValue(0,7,QString::number(vehicle.emb_atom_com.Airspeed,'f',1));
statusui->setValue(0,8,QString::number(vehicle.gps_raw_int.vel * 10e-3,'f',1));
statusui->setValue(0,9,QString::number(vehicle.emb_atom_com.mach,'f',2));
quint8 com = (0x44 & 0x0E) >> 1;
QString com_str;
switch (com) {
case 0:
com_str = tr("未初始化");
break;
case 1:
com_str = tr("INS/大气");
break;
case 2:
com_str = tr("INS/DGPS");
break;
case 3:
com_str = tr("INS/GNSS");
break;
case 5:
com_str = tr("GNSS");
break;
default:
com_str = tr("未知参数");
break;
}
statusui->setValue(0,10,com_str);
statusui->setValue(0,11,com_str);
//========================4
QString throwkey;
throwkey.append((vehicle.rpm.rpm1 == 1)?(tr("投放|")):(tr("锁定|")));
throwkey.append((vehicle.rpm.rpm2 == 1)?(tr("投放")):(tr("锁定")));
statusui->setValue(4,0,throwkey);
throwkey.clear();
throwkey.append((vehicle.rpm.rpm4 == 0)?(tr("保险|")):(tr("解除|")));
throwkey.append((vehicle.rpm.rpm5 == 0)?(tr("工作")):(tr("上锁")));
statusui->setValue(4,1,throwkey);
statusui->setValue(4,2,getBit(health,19)?(tr("已采集")):(tr("未采集")));//加速度采集
statusui->setValue(4,3,getBit(health,14)?(tr("点火成功")):(tr("未点火")));
//========================5 battery
statusui->setValue(5,0,QString::number(vehicle.sys_status.voltage_battery * 0.001,'f',1));
statusui->setValue(5,1,QString::number(vehicle.battery_status.voltages[2] * 0.001,'f',1));
//========================6 dlink
}