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将sbg相关信息去除

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This commit is contained in:
zhangxusong
2024-07-27 16:02:24 +08:00
parent 8be76f4ddd
commit f35c0a6ed3
5 changed files with 12 additions and 63 deletions
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App/HealthUI/HealthUI.cpp
+1 -1
View File
@@ -19,7 +19,7 @@ HealthUI::HealthUI(QWidget *parent) :
Install("320B",index++,state::inital);
Install("SBG",index++,state::inital);
Install("100e",index++,state::inital);
Install("大气机",index++,state::inital);
Install("起落架",index++,state::inital);
Install("配电盒",index++,state::inital);//5
App/StatusUI/StatusUI.cpp
-20
View File
@@ -252,26 +252,6 @@ StatusUI::StatusUI(QWidget *parent) :
QMap<QVariant, StateWidget::state>{{"未定向",StateWidget::state::red},
{"已定向",StateWidget::state::green}});
install(statu2,0,"SBG状态",0,
QMap<QVariant, StateWidget::state>{{"UNINITIALIZED",StateWidget::state::red},
{"VERTICAL_GYRO",StateWidget::state::orange},
{"AHRS",StateWidget::state::green},
{"NAV_VELOCITY",StateWidget::state::green},
{"NAV_POSTION",StateWidget::state::green}});
install(statu2,0,"SBG差分",0,
QMap<QVariant, StateWidget::state>{{"NO_SOLUTION",StateWidget::state::red},
{"UNKNOWN_TYPE",StateWidget::state::red},
{"SINGLE",StateWidget::state::orange},
{"PSRDIFF",StateWidget::state::green},
{"SBAS",StateWidget::state::green},
{"OMNISTAR",StateWidget::state::green},
{"RTK_FLOAT",StateWidget::state::green},
{"RTK_INT",StateWidget::state::green},
{"PPP_FLOAT",StateWidget::state::green},
{"PPP_INT",StateWidget::state::green},
{"FIXED",StateWidget::state::green},
{"undefined type",StateWidget::state::red}});
App/ToolsUI/Parse.cpp
+6
View File
@@ -684,6 +684,8 @@ void Parse::run()
memcpy(&imu.GPSWeek, data.data() + index, 2);
index += 2;
qDebug() << "imu.GPSWeek" << QString::number(imu.GPSWeek, 16);
memcpy(&imu.tow_ms, data.data() + index, 4);
index += 4;
@@ -708,9 +710,13 @@ void Parse::run()
}status;
}imuState;
memcpy(&imuState.state, data.data() + index, 4);
index += 4;
qDebug() << "imuState" << QString::number(imuState.state, 16);
imu.IMUState.XGyroState1 = imuState.status.b0;
imu.IMUState.YGyroState = imuState.status.b1;
imu.IMUState.ZGyroState = imuState.status.b2;
App/mainwindow.cpp
+5 -40
View File
@@ -783,9 +783,6 @@ MainWindow::MainWindow(QWidget *parent)
connect(toolsui,&ToolsUI::imu_info,
this,&MainWindow::imu_info);
connect(toolsui,&ToolsUI::euler_info,
this,&MainWindow::euler_info);
connect(toolsui,&ToolsUI::gear_Info,
this,&MainWindow::gear_Info);
@@ -816,8 +813,6 @@ MainWindow::MainWindow(QWidget *parent)
connect(toolsui,&ToolsUI::vel_info,
this,&MainWindow::vel_info);
connect(toolsui,&ToolsUI::pos_info,
this,&MainWindow::pos_info);
connect(toolsui, &ToolsUI::thrusterInfo,
this, &MainWindow::thrusterInfo);
@@ -1956,8 +1951,8 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
healthui->setColor(15,getBit(present,24)?(HealthUI::state::success):(HealthUI::state::failure));//act2自检
healthui->setValue(16,getBit(health,3)?("使用SBG"):("使用320"));//使用320/使用SBG
healthui->setColor(16,getBit(health,3)?(HealthUI::state::warning):(HealthUI::state::success));//使用320/使用SBG
healthui->setValue(16,getBit(health,3)?("使用100e"):("使用320"));//使用320/使用SBG
healthui->setColor(16,getBit(health,3)?(HealthUI::state::warning):(HealthUI::state::success));
//healthui->setColor(17,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::inital));//空速管加温
//healthui->setColor(18,getBit(present,25)?(HealthUI::state::success):(HealthUI::state::inital));//插销上锁
//healthui->setColor(19,getBit(present,28)?(HealthUI::state::success):(HealthUI::state::inital));//变体上锁
@@ -2069,8 +2064,8 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
statusui->setValue(1,2,1,getBit(health,8)?("使用地速"):("使用空速"));//速度源
statusui->setValue(1,2,2,getBit(health,7)?("使用SBG"):("使用320"));//姿态源
statusui->setValue(1,2,3,getBit(health,3)?("使用SBG"):("使用320"));//导航源
statusui->setValue(1,2,2,getBit(health,7)?("使用100e"):("使用320"));//姿态源
statusui->setValue(1,2,3,getBit(health,3)?("使用100e"):("使用320"));//导航源
statusui->setValue(1,3,0,getBit(health,9)?("在安控区内"):("超出安控区"));
// statusui->setValue(1,3,1,getBit(health,10)?("复飞"):("不复飞"));
@@ -2573,23 +2568,6 @@ void MainWindow::gear_Info(Parse::_gear info)
if((info.SW[15] && info.SW[16] && info.SW[17]&& info.SW[18]) &&
(!info.SW[20] && !info.SW[21] && !info.SW[22]&& !info.SW[23]))
{
healthui->setValue(19,tr("插销解锁"));
healthui->setColor(19,HealthUI::state::success);
}
else if((!info.SW[15] && !info.SW[16] && !info.SW[17]&& !info.SW[18]) &&
(info.SW[20] && info.SW[21] && info.SW[22]&& info.SW[23]))
{
healthui->setValue(19,tr("插销上锁"));
healthui->setColor(19,HealthUI::state::failure);
}
else
{
healthui->setValue(19,tr("插销运动"));
healthui->setColor(19,HealthUI::state::warning);
}
/*
qDebug() << info.SW[15] << info.SW[16] << info.SW[17] << info.SW[18]
@@ -2759,26 +2737,13 @@ void MainWindow::imu_info(Parse::_imu info)
}
void MainWindow::euler_info(Parse::_euler info)
{
if(statusui)
{
statusui->setValue(1,2,6,info.solution.solutionMode);//SBG状态
}
}
void MainWindow::vel_info(Parse::_vel info)
{
}
void MainWindow::pos_info(Parse::_pos info)
{
if(statusui)
{
statusui->setValue(1,2,7,info.status.pos_type);//SBG差分
}
}
void MainWindow::thrusterInfo(Parse::thruster info)
{
App/mainwindow.h
-2
View File
@@ -119,9 +119,7 @@ public slots:
void actuator2_info(Parse::_actuator2 info);
void imu_info(Parse::_imu info);
void euler_info(Parse::_euler info);
void vel_info(Parse::_vel info);
void pos_info(Parse::_pos info);
/**
* @brief 更新轨控发动机数据