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添加copk的连接、

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Company
2020-06-05 18:05:16 +08:00
parent 2f0c9654b7
commit ca0f9363fd
16 changed files with 242 additions and 152 deletions
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App/CheckUI/CheckUI.ui
+12 -65
View File
@@ -13,71 +13,18 @@
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>20</x>
<y>340</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_3">
<property name="geometry">
<rect>
<x>20</x>
<y>260</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_4">
<property name="geometry">
<rect>
<x>20</x>
<y>100</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_5">
<property name="geometry">
<rect>
<x>20</x>
<y>180</y>
<width>151</width>
<height>71</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Seft Test</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
App/CommandUI/Command.json
+14
View File
@@ -21,6 +21,20 @@
"param6": 6,
"param7": 7
},
{
"Text" : "vvvv",
"row": 0,
"column": 2,
"command": 1,
"confirm": 0,
"param1": 7,
"param2": 6,
"param3": 5,
"param4": 4,
"param5": 3,
"param6": 2,
"param7": 1
},
{
"Text" : "降落",
"row": 0,
App/ToolsUI/tools_Index2/tools_Index2.ui
-26
View File
@@ -34,32 +34,6 @@
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>320</x>
<y>80</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="geometry">
<rect>
<x>250</x>
<y>200</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
</widget>
</item>
</layout>
App/mainwindow.cpp
+21 -11
View File
@@ -193,7 +193,7 @@ MainWindow::MainWindow(QWidget *parent)
//刷新ui,以保证界面不卡
QTimer::singleShot(200,this,&MainWindow::updateUI);
//QTimer::singleShot(200,this,&MainWindow::updateUI);
qDebug() << "main window start";
@@ -551,21 +551,31 @@ void MainWindow::updateUI()//事件驱动式更新数据
dlink->mavlinknode->vehicle.attitude.roll * 57.3,
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
//copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
//copk->setAirSpeed(dlink->mavlinknode->vehicle.airspeed_autocal.vx);
copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4 );
copk->setAirSpeed(dlink->mavlinknode->vehicle.global_position_int.vx,2);
copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz);
//copk->setAOA(dlink->mavlinknode->vehicle.);
internals::PointLatLng LatLng;
LatLng.SetLat((double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8));
LatLng.SetLng((double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8));
//map->UAV->SetUAVPos(LatLng,dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);
//qDebug() << LatLng.Lat()
// << LatLng.Lng();
copk->setAlt_err(dlink->mavlinknode->vehicle.nav_controller_output.alt_error);
copk->setWP_dist(dlink->mavlinknode->vehicle.nav_controller_output.wp_dist);
//map->UAV->SetUAVHeading(dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
map->setUAVPos(dlink->mavlinknode->vehicle.sysid,
dlink->mavlinknode->vehicle.compid,
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8),
(double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8),
(double)(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4));
map->setUAVHeading(dlink->mavlinknode->vehicle.sysid,
dlink->mavlinknode->vehicle.compid,
dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
update();