From cfb758554904a46b2ce0656f0b81713711d39faa Mon Sep 17 00:00:00 2001 From: hm Date: Thu, 10 Feb 2022 14:26:23 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9E=84=E5=BB=BA=E5=A5=BD=E6=98=BE=E7=A4=BA?= =?UTF-8?q?=E7=82=B9=E5=92=8C=E7=BA=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- App/GCS_zh_CN.ts | 585 +++++++++--------- App/Setting/Index0/Global/GlobalSetting.cpp | 27 +- App/Setting/Index0/Global/GlobalSetting.h | 8 +- .../ParameterInspector/ParameterInspector.cpp | 3 + .../ParameterInspector/ParameterInspector.h | 2 + App/ToolsUI/PowerSystem/PowerSystem.ui | 6 + App/ToolsUI/ServoSystem/ServoSystem.cpp | 29 +- App/ToolsUI/tools_Index1/tools_Index1.cpp | 35 +- App/ToolsUI/tools_Index1/tools_Index1.ui | 22 +- App/ToolsUI/tools_Index2/tools_Index2.cpp | 9 +- App/mainwindow.cpp | 40 +- Cockpit/Cockpit.cpp | 6 +- MavLinkNode/mavlinknode.cpp | 41 +- MavLinkNode/mavlinknode.h | 2 +- MavLinkNode/missionprocess.cpp | 2 + MavLinkNode/parameterprocess.cpp | 5 + 16 files changed, 447 insertions(+), 375 deletions(-) diff --git a/App/GCS_zh_CN.ts b/App/GCS_zh_CN.ts index 89f75a5..57c7815 100644 --- a/App/GCS_zh_CN.ts +++ b/App/GCS_zh_CN.ts @@ -1421,190 +1421,195 @@ - + 右副翼 - - + + 保存 - + 左升降 - - + + 读取 - + 方向舵 - + 左副翼 - + 右升降 - + 舵机显示设置 - + 极值 - + 零偏 - + 方向 - + 舵机 - + 比例值 - + 显示值 = 方向 * RAW / 32767 * 极值 / 比例 - 零偏 - + ID设置 - - 设置地面站ID号 - - - - + 设置 - + + 地图设置 + + + + + 选择地图 + + + + 上传心跳 - + 频率 - + 状态 - + 250 250 - + 251 251 - + 252 252 - + 253 253 - + 254 254 - + 255 255 - + 1.0Hz - + 2.0Hz - + 5.0Hz - + 10Hz - + 发送心跳包 - + 关闭心跳包 - - + + 设置本机ID成功，ID:%1 - + 舵面偏差读取成功 - + 舵面偏差设置成功 - + 心跳读取成功 - + 心跳设置成功 @@ -1798,19 +1803,18 @@ 界面 - + Link 连接设置 - + Global 全局设置 - Map - 地图设置 + 地图设置 Command @@ -2062,31 +2066,31 @@ 参数 - - + + Communication Lost 通讯丢失 - - + + Communication Regain 通讯已恢复 - - - + + + 未定位 - + %1D[%2颗] %1D[%2颗] - + fix[%1颗] %1D Fix 差分[%1颗] @@ -2104,370 +2108,370 @@ GPS错误 - + float[%1颗] 浮点[%1颗] - + err[%1颗] 错误[%1颗] - + ARM 解锁 - + DISARM 上锁 - + MANUAL 手动 - + ALTCTL 定高 - + POSCTL 定点 - + AUTO 自主 - + ACRO - + OFFBOARD - + STABILIZED 增稳 - + RATTITUDE 速率 - + STANDBY 待机 - + BIT 测试 - + AUTO_READY 就绪 - + AUTO_TAKEOFF 起飞 - + AUTO_LOITER 盘旋 - + AUTO_MISSION 任务 - + AUTO_RTL 返航 - + AUTO_LAND 着陆 - + AUTO_RTGS RTGS - + AUTO_FOLLOW_TARGET 目标跟随 - + 开加力 - + 半加力 - + 全加力 - - + + 关加力 - + 伞舱开 - + 伞舱关 - + INS解算正常 - + INS星数不足 - + INS内部错误 - + INS速度超限 - + SBG解算正常 - + SBG星数不足 - + SBG内部错误 - + SBG速度超限 - - - - + + + + - + GPS Unlocated 未定位 - + %1D - + fixed - + float - + %1 - - + + 未初始化 - - + + 垂直陀螺 - - + + AHRS - - + + 速度导航 - - + + 位置导航 - - - - - - - - + + + + + + + + 正常 - - - - - - - - - - + + + + + + + + + + 无效 - - + + 解算正常 - - - - 卫星数不足 - - - - - - 内部错误 - - - - - - 速度超限 - - - - - 未知 + 卫星数不足 - 多普勒 + 内部错误 - 微分 + 速度超限 - - - 单点 + + + + + 未知 - - - 伪距差分 - - - - - - SBAS广域差分 + + + 多普勒 + 微分 + + + + + + 单点 + + + + + + 伪距差分 + + + + + + SBAS广域差分 + + + + + 广域差分 - - + + RTK_FLOAT - - + + RTK_INT - - + + PPP_FLOAT - - + + PPP_INT - - + + FIXED @@ -2476,17 +2480,17 @@ 未支持 - + flight mode 飞行模式 - + 连接内置惯导 - + 连接SBG @@ -2510,24 +2514,20 @@ MapSettingUI - Form - 界面 + 界面 - BingHybrid - BingHybrid + BingHybrid - Cache Path - 缓存路径 + 缓存路径 - Select Path... - 选择路径... + 选择路径... @@ -2718,25 +2718,25 @@ - - - + + + Vehicle %1 无人机 %1 - + Save Parameter File... 保存参数... - - + + parameters file (*.params) 参数文件 (*.params) - + Selete Parameter File... 选择参数... @@ -2749,314 +2749,314 @@ 界面 - + 基本状态 - + 发动机压比 - + N主传感器通道 - + 进口总温[℃] - + 物理转速[rpm] - + 运行状态 - + 进口总压[kPa] 进口总压[KPa] - + 运行模式 - + 期望转速[rpm] - + 排气温度T5[℃] - + 涡轮后压力[kPa] - + 其他状态 - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + 0 0 - + 加力主燃油K - + 回传转速[rpm] - + 回传大气温度[℃] - + 回传加速度档位 - + 内部参数 - + 舵机K - + 舱壁温度上[℃] 舱壁温度1 - + 回传空速[km/h] - + 电源电压[V] - + 舱壁温度右[℃] 舱壁温度2 - + 回传高度[m] - + 当前燃油K值 - + 加力点火燃油K - + 油量[kg] - + 返回指令 - + 舵机位移[mm] - + rP51_Def rP51_Def[Kg/h] - + Wf 测[Kg/h] - + Wf_Def[kg/h] Wf_Def[Kg/h] - + 油压[kPa] 油压 - + 开车时间[h:m:s] - + 告警状态 全加力档 - + N超转 - + T5超温 - + 加力点火失败 - + 启动失败 - + P3t超新 - + P5t超限 - + 点火失败 - + 故障状态 - + P3t出口总压传感器 - + 电源 - + T5排气温度传感器 - + N1转速传感器 - + 核心机主油泵输出 - + P1t进口总压传感器 - + 加力点火油泵输出 - + N2转速传感器 - + P5t涡轮后压力感器 - + 加力主油泵输出 - + T1t进口总温传感器 - + CPU - + 舵机位移传感器 - + 舵机控制器 @@ -4091,13 +4091,13 @@ 界面 - + Software software 软件设置 - + Hardware 硬件设置 @@ -4428,32 +4428,33 @@ 日志 - - 导出记录 - - - - + welcome - + uav ground control system - + [%1] %2 >> %3 - + + [%1] %2 >> %3 + + + + + Selete Path of File... 选择文件路径... - + log file (*.log) @@ -4516,25 +4517,25 @@ 点击导入记录文件 - + Open File 打开记录 - + LogFile (*.Tlog *.log) 记录文件 (*.Tlog *.log) - - - + + + play 播放 - - + + pause 暂停 diff --git a/App/Setting/Index0/Global/GlobalSetting.cpp b/App/Setting/Index0/Global/GlobalSetting.cpp index 63730e3..51a76b5 100644 --- a/App/Setting/Index0/Global/GlobalSetting.cpp +++ b/App/Setting/Index0/Global/GlobalSetting.cpp @@ -7,6 +7,12 @@ GlobalSetting::GlobalSetting(QWidget *parent) : { ui->setupUi(this); + bingmap.insert("数字地图","BingMap"); + bingmap.insert("卫星地图","BingSatellite"); + bingmap.insert("混合地图","BingHybrid"); + //bingmap.insert("中国地图","BingChina"); + + ui->comboBox_ID->addItem(tr("250"),250); ui->comboBox_ID->addItem(tr("251"),251); ui->comboBox_ID->addItem(tr("252"),252); @@ -83,10 +89,10 @@ GlobalSetting::GlobalSetting(QWidget *parent) : } else { - ui->pushButton_MapProvider->setText("BingHybrid"); + ui->pushButton_MapProvider->setText("混合地图"); } - emit setMapTypes(maptype); + emit setMapTypes(bingmap.value(maptype.toString())); } @@ -331,25 +337,20 @@ void GlobalSetting::on_pushButton_setHeartBeat_clicked() emit showMessage(tr("心跳设置成功")); } -void GlobalSetting::setMapProvider(QVariant value) +void GlobalSetting::setMapProvider(QVariant key) { - ui->pushButton_MapProvider->setText(value.toString()); + ui->pushButton_MapProvider->setText(key.toString()); Config *config = new Config(); - config->setMapType(value); + config->setMapType(key); delete config; - emit setMapTypes(value); + emit setMapTypes(bingmap.value(key.toString())); } void GlobalSetting::MapTypes(QStringList list) { - QStringList map; - - map << "BingMap" - << "BingSatellite" - << "BingHybrid" - << "BingChina"; + //QStringList map; @@ -357,7 +358,7 @@ void GlobalSetting::MapTypes(QStringList list) Selector *selector = new Selector(this); selector->setGeometry(0,0,this->width(),this->height()); - selector->setList(map,ui->pushButton_MapProvider->text()); + selector->setList(bingmap.keys(),ui->pushButton_MapProvider->text()); connect(selector,SIGNAL(confirmValue(QVariant)), this,SLOT(setMapProvider(QVariant))); diff --git a/App/Setting/Index0/Global/GlobalSetting.h b/App/Setting/Index0/Global/GlobalSetting.h index d87bd7a..8138f1a 100644 --- a/App/Setting/Index0/Global/GlobalSetting.h +++ b/App/Setting/Index0/Global/GlobalSetting.h @@ -29,7 +29,7 @@ public slots: private slots: - void setMapProvider(QVariant value); + void setMapProvider(QVariant key); void on_pushButton_setGCSID_clicked(); @@ -65,6 +65,12 @@ signals: private: Ui::GlobalSetting *ui; + + QMap bingmap; + + + + }; #endif // GLOBALSETTING_H diff --git a/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp b/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp index 7c0732e..999e7c8 100644 --- a/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp +++ b/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp @@ -276,6 +276,8 @@ void ParameterInspector::refreshView()//来一个参数更新一次 uasTopLevelItems.insert(ite.key(),TopItem); } + + ui->treeWidget->addTopLevelItems(uasTopLevelItems.values()); ui->treeWidget->expandAll(); @@ -713,6 +715,7 @@ void ParameterInspector::on_WriteButton_clicked() emit WriteCmd(sysid,1,ui->pushButton_id->text().toLatin1().data(),currentSelectType,value); + emit showMessage(tr("修改参数 %1 %2").arg(ui->pushButton_id->text().toLatin1().data()).arg(ui->pushButton_value->text().toFloat())); //读取是哪设备，是哪个参数，然后发送出去 } diff --git a/App/Setting/Index1/ParameterInspector/ParameterInspector.h b/App/Setting/Index1/ParameterInspector/ParameterInspector.h index ab4db0d..7eab5fb 100644 --- a/App/Setting/Index1/ParameterInspector/ParameterInspector.h +++ b/App/Setting/Index1/ParameterInspector/ParameterInspector.h @@ -122,6 +122,8 @@ signals: void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value); + void showMessage(const QString &message,int TimeOut = 0); + public slots: void addVehicles(int sysid, int compid); diff --git a/App/ToolsUI/PowerSystem/PowerSystem.ui b/App/ToolsUI/PowerSystem/PowerSystem.ui index 69cf12a..f9d5a60 100644 --- a/App/ToolsUI/PowerSystem/PowerSystem.ui +++ b/App/ToolsUI/PowerSystem/PowerSystem.ui @@ -38,6 +38,12 @@ QFrame::Raised + + 0 + + + 0 + diff --git a/App/ToolsUI/ServoSystem/ServoSystem.cpp b/App/ToolsUI/ServoSystem/ServoSystem.cpp index 3957f61..cce5696 100644 --- a/App/ToolsUI/ServoSystem/ServoSystem.cpp +++ b/App/ToolsUI/ServoSystem/ServoSystem.cpp @@ -602,7 +602,10 @@ void ServoSystem::on_pushButton_SendCommand_clicked() { emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(m_value),5000); - emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,m_value); + emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,param_getvalue(m_value,m_type)); + + + } } @@ -820,9 +823,11 @@ void ServoSystem::on_pushButton_IMU_clicked() id.clear(); id.append("use_ext_ins"); - float value = param_getvalue(ui->comboBox_IMU->currentData(Qt::UserRole).toInt(),type); + //float value = param_getvalue(ui->comboBox_IMU->currentData(Qt::UserRole).toInt(),type); - on_paramClicked(sysid,compid,id,type,value); + on_paramClicked(sysid,compid,id,type,ui->comboBox_IMU->currentData(Qt::UserRole).toDouble()); + + //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(ui->comboBox_IMU->currentData(Qt::UserRole).toInt()),5000); } else @@ -850,9 +855,11 @@ void ServoSystem::on_pushButton_IAS_SEL_0_clicked() id.append("IAS_SEL"); - float value = param_getvalue(0,type); + //float value = param_getvalue(0,type); - on_paramClicked(sysid,compid,id,type,value); + //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(0),5000); + + on_paramClicked(sysid,compid,id,type,0); } else @@ -878,9 +885,11 @@ void ServoSystem::on_pushButton_IAS_SEL_1_clicked() id.clear(); id.append("IAS_SEL"); - float value = param_getvalue(1,type); + //float value = param_getvalue(1,type); - on_paramClicked(sysid,compid,id,type,value); + //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(1),5000); + + on_paramClicked(sysid,compid,id,type,1); } else @@ -905,9 +914,11 @@ void ServoSystem::on_pushButton_IAS_SEL_2_clicked() id.clear(); id.append("IAS_SEL"); - float value = param_getvalue(2,type); + //float value = param_getvalue(2,type); - on_paramClicked(sysid,compid,id,type,value); + //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() + " " + QString::number(2),5000); + + on_paramClicked(sysid,compid,id,type,2); } else diff --git a/App/ToolsUI/tools_Index1/tools_Index1.cpp b/App/ToolsUI/tools_Index1/tools_Index1.cpp index fbe42fc..bbbe897 100644 --- a/App/ToolsUI/tools_Index1/tools_Index1.cpp +++ b/App/ToolsUI/tools_Index1/tools_Index1.cpp @@ -18,8 +18,12 @@ Tools_Index1::Tools_Index1(QWidget *parent) : QDateTime current = QDateTime::currentDateTime(); - log_file_name = QString("./Tlog/%1.log").arg(current.toString("yyyyMMddHHmmss")); + log_file_name = QString("./log/textlog/%1.log").arg(current.toString("yyyyMMddHHmmss")); + log_file = new QFile(log_file_name); + if(log_file->open(QIODevice::WriteOnly | QIODevice::Text)) + { + } StringModel = new QStringListModel(ui->listView); @@ -29,14 +33,21 @@ Tools_Index1::Tools_Index1(QWidget *parent) : ui->listView->scrollToBottom(); //ui->listView->setAlternatingRowColors(); + //setLog(tr("uav ground control system")); + + + - setLog(tr("welcome")); - setLog(tr("uav ground control system")); } Tools_Index1::~Tools_Index1() { + if(log_file) + { + log_file->close(); + } + delete ui; } @@ -91,7 +102,23 @@ void Tools_Index1::setLog(const QString &message) count ++; - //ui->listView->i + //if(log_file->open(QIODevice::WriteOnly | QIODevice::Text) ) + //{ + + if(log_file) + { + if(log_file->isOpen()) + { + QString s; + s.append(tr("[%1] %2 >> %3\n").arg(QString::number(count)).arg(time).arg(message)); + + QTextStream out(log_file); + + out << s; + + log_file->flush(); + } + } } diff --git a/App/ToolsUI/tools_Index1/tools_Index1.ui b/App/ToolsUI/tools_Index1/tools_Index1.ui index fe69957..20eb575 100644 --- a/App/ToolsUI/tools_Index1/tools_Index1.ui +++ b/App/ToolsUI/tools_Index1/tools_Index1.ui @@ -50,27 +50,7 @@ 0 - - - - 导出记录 - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - + diff --git a/App/ToolsUI/tools_Index2/tools_Index2.cpp b/App/ToolsUI/tools_Index2/tools_Index2.cpp index 664305e..76e1180 100644 --- a/App/ToolsUI/tools_Index2/tools_Index2.cpp +++ b/App/ToolsUI/tools_Index2/tools_Index2.cpp @@ -32,6 +32,7 @@ Tools_Index2::Tools_Index2(QWidget *parent) : ui->label_percent->setFixedSize(150,50); ui->pushButton_CSV->setFixedHeight(50); + ui->pushButton_CSV->hide(); ui->comboBox_MultiSpeed->addItem("X1",1); ui->comboBox_MultiSpeed->addItem("X2",2); @@ -39,10 +40,10 @@ Tools_Index2::Tools_Index2(QWidget *parent) : ui->comboBox_MultiSpeed->addItem("X10",10); ui->comboBox_MultiSpeed->addItem("X20",20); ui->comboBox_MultiSpeed->addItem("X50",50); - ui->comboBox_MultiSpeed->addItem("X100",100); - ui->comboBox_MultiSpeed->addItem("X200",200); - ui->comboBox_MultiSpeed->addItem("X500",500); - ui->comboBox_MultiSpeed->addItem("X1000",1000); + //ui->comboBox_MultiSpeed->addItem("X100",100); + //ui->comboBox_MultiSpeed->addItem("X200",200); + //ui->comboBox_MultiSpeed->addItem("X500",500); + //ui->comboBox_MultiSpeed->addItem("X1000",1000); } diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp index 96220c4..5bf5308 100644 --- a/App/mainwindow.cpp +++ b/App/mainwindow.cpp @@ -46,15 +46,37 @@ float to360deg(float raw) MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) { - //setGeometry(); + //构建日志目录 + QDir *logdir = new QDir; + if(!logdir->exists("./log")) + { + qDebug() << "make dir log"; + logdir->mkdir("./log");//如果文件夹不存在就新建 + } - //检测qml文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件 - /* - QDir *qmlDir = new QDir; - if(!qmlDir->exists("./qml")) - qmlDir->mkdir("./qml");//如果文件夹不存在就新建 - */ + //构建Tlog目录 + QDir *Tlogdir = new QDir; + if(!Tlogdir->exists("./log/tlog")) + { + qDebug() << "make dir tlog"; + Tlogdir->mkdir("./log/tlog");//如果文件夹不存在就新建 + } + //构建CSV目录 + QDir *csvlog = new QDir; + if(!csvlog->exists("./log/csv")) + { + qDebug() << "make dir csv"; + csvlog->mkdir("./log/csv");//如果文件夹不存在就新建 + } + + //构建文本日志目录 + QDir *textlog = new QDir; + if(!textlog->exists("./log/textlog")) + { + qDebug() << "make dir textlog"; + textlog->mkdir("./log/textlog");//如果文件夹不存在就新建 + } setFocusPolicy(Qt::StrongFocus); @@ -401,6 +423,7 @@ MainWindow::MainWindow(QWidget *parent) connect(copk,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(dlink,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(map,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); + connect(setting->index1->paramInspect,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); connect(setting->index0->globalsetting,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int))); @@ -413,7 +436,8 @@ MainWindow::MainWindow(QWidget *parent) qDebug()<<"QSslSocket="<exists("./Tlog")) - { - qDebug() << "make dir tlog"; - temp->mkdir("./Tlog");//如果文件夹不存在就新建 - } - - - //初始化ID int Current_sysID = 0xFB; int Current_CompID = MAV_COMP_ID_MISSIONPLANNER; @@ -57,7 +48,10 @@ MavLinkNode::MavLinkNode(QObject *parent) : ThreadTemplet(parent) } QDateTime current = QDateTime::currentDateTime(); - mavlogFileName = QString("./Tlog/%1.tlog").arg(current.toString("yyyyMMddHHmmss")); + + startuptime = current; + + mavlogFileName = QString("./log/Tlog/%1.tlog").arg(current.toString("yyyyMMddHHmmss")); mavLogFile = new QFile(mavlogFileName); mavLogFile->open(QIODevice::WriteOnly); @@ -292,14 +286,13 @@ void MavLinkNode::CreateCSV(void) QDir *csvdir = new QDir; - if(!csvdir->exists("./csv")) + if(!csvdir->exists("./log/csv")) { qDebug() << "make dir tlog"; - csvdir->mkdir("./csv");//如果文件夹不存在就新建 + csvdir->mkdir("./log/csv");//如果文件夹不存在就新建 } - QDateTime current = QDateTime::currentDateTime(); - QString filetime = QString("./csv/%1").arg(current.toString("yyyyMMddHHmmss")); + QString filetime = QString("./log/csv/%1").arg(startuptime.toString("yyyyMMddHHmmss")); QDir *temp = new QDir; @@ -646,17 +639,27 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram) last_seq = msg.seq; - - - uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)]; quint64 currentTimestamp = ((quint64)QDateTime::currentMSecsSinceEpoch()) * 1000; qToBigEndian(currentTimestamp, buff); uint16_t len = mavlink_msg_to_send_buffer(buff+sizeof(quint64), &msg); if (mavLogFile) { + /* mavLogFile->write((const char *)buff, len+sizeof(quint64)); mavLogFile->flush(); + */ + QByteArray data; + + data.clear(); + data.append((const char *)buff,len+sizeof(quint64)); + + QDataStream stream(mavLogFile); + + stream << data; + + mavLogFile->flush(); + } @@ -723,7 +726,7 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram) case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:{ parserFailure += 1; qDebug() << "MAVLINK_PARSE_STATE_GOT_BAD_CRC1"; - emit showMessage("mavlink got bad crc1"); + emit showMessage("协议解码校验错误"); }break; case MAVLINK_PARSE_STATE_SIGNATURE_WAIT:{ qDebug() << "MAVLINK_PARSE_STATE_SIGNATURE_WAIT"; @@ -1181,7 +1184,7 @@ void MavLinkNode::CheckVehicle(int sysid,int compid) vehicleList.insert(sysid,v); - emit showMessage(tr("new vehicle be found,id %1").arg(v.sysid)); + emit showMessage(tr("出现新的设备,识别号为 %1").arg(v.sysid)); emit addVehicles(sysid,compid); } } diff --git a/MavLinkNode/mavlinknode.h b/MavLinkNode/mavlinknode.h index a9c6eef..512e2a0 100644 --- a/MavLinkNode/mavlinknode.h +++ b/MavLinkNode/mavlinknode.h @@ -273,7 +273,7 @@ protected: uint8_t GCS_System_ID = 0xFF; - + QDateTime startuptime; QTimer *gdt_timer = nullptr; diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp index 842f368..a2b7c1f 100644 --- a/MavLinkNode/missionprocess.cpp +++ b/MavLinkNode/missionprocess.cpp @@ -666,6 +666,8 @@ void MissionProcess::item_int(float param1,float param2,float param3,float param mavlink_msg_mission_item_int_encode(GCS_SysID,GCS_CompID, &msg,&mission_item_int); Send(msg); + + //emit showMessage(tr("发送航点 %1").arg(seq + 1)); } void MissionProcess::item(float param1,float param2,float param3,float param4, diff --git a/MavLinkNode/parameterprocess.cpp b/MavLinkNode/parameterprocess.cpp index 3d5628d..a4f85ce 100644 --- a/MavLinkNode/parameterprocess.cpp +++ b/MavLinkNode/parameterprocess.cpp @@ -75,6 +75,9 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i << "type" << status.recieve.type << endl << "start..."; + + + } } @@ -110,7 +113,9 @@ void ParameterProcess::Parse(mavlink_message_t msg) status.recieve.isWaitingforValue = false; status.transmit.isWaitingforValue = false; + emit showMessage(tr("收到参数 %1 %2 %3").arg(param_value.param_index).arg(setid(param_value.param_id)).arg(setvalue(param_value).toDouble())); qDebug() << "param_value" << param_value.param_index << param_value.param_value; + }break; case MAVLINK_MSG_ID_PARAM_EXT_ACK:{ mavlink_msg_param_ext_ack_decode(&msg,¶m_ext_ack);