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健康值完善，舵机值写入

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hm
2020-12-26 15:17:45 +08:00
parent a9cf7f4117
commit fd40036fd8
11 changed files with 855 additions and 1148 deletions
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App/ToolsUI/ServoSystem/ServoSystem.cpp
+1 -58
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@@ -176,66 +176,9 @@ void ServoSystem::setCheckState(uint32_t pos,QVariant value)
}
void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
void ServoSystem::setServoState(mavlink_servo_output_raw_t t)
{
/*
statusui->setServo(1,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 - m_la,'f',2),
QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * 35.0 - m_la,'f',2));
statusui->setServo(2,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 - m_ra,'f',2),
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * 35.0 - m_ra,'f',2));
statusui->setServo(3,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 25.0 - m_le,'f',2),
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * 25.0 - m_le,'f',2));
statusui->setServo(4,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 25.0 - m_re,'f',2),
QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * 25.0 - m_re,'f',2));
statusui->setServo(5,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0 - m_ru,'f',2),
QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * 25.0 - m_ru,'f',2));
*/
ui->label_rud_curr->setText( QString::number(-((int16_t)t->servo13_raw)/32767.0 * 25.0 - m_ru,'f',2));
ui->label_ele_l_curr->setText(QString::number(-((int16_t)t->servo15_raw)/32767.0 * 25.0 - m_le,'f',2));
ui->label_ele_r_curr->setText(QString::number( ((int16_t)t->servo12_raw)/32767.0 * 25.0 - m_re,'f',2));
ui->label_ail_l_curr->setText(QString::number( ((int16_t)t->servo14_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2));
ui->label_ail_r_curr->setText(QString::number(-((int16_t)t->servo11_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2));
ui->label_rud_cmd->setText( QString::number(-((int16_t)t->servo3_raw)/32767.0 * 25.0 - m_ru,'f',2));//ru
ui->label_ele_l_cmd->setText(QString::number(-((int16_t)t->servo1_raw)/32767.0 * 25.0 - m_le,'f',2));//le
ui->label_ele_r_cmd->setText(QString::number( ((int16_t)t->servo2_raw)/32767.0 * 25.0 - m_re,'f',2));//re
ui->label_ail_l_cmd->setText(QString::number( ((int16_t)t->servo4_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2));//la
ui->label_ail_r_cmd->setText(QString::number(-((int16_t)t->servo5_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2));//ra
/*
sbus = feedback (ra)
sbus = feedback (re)
sbus = feedback (ru)
sbus = feedback (la)
15 sbus = feedback (le)
health = 0 ra000 re000 ru000 la000 le000
GBIT zero SBIT
*/
uint16_t health = t->servo16_raw;
//qDebug() << health;
setColor(ui->label_LE_SBIT,((health&0x0004) > 0)?(state::success):(state::failure));
setColor(ui->label_LE_ZERO,((health&0x0002) > 0)?(state::success):(state::failure));
setColor(ui->label_LE_GBIT,((health&0x0001) > 0)?(state::success):(state::failure));
setColor(ui->label_LA_SBIT,((health&0x0020) > 0)?(state::success):(state::failure));
setColor(ui->label_LA_ZERO,((health&0x0010) > 0)?(state::success):(state::failure));
setColor(ui->label_LA_GBIT,((health&0x0008) > 0)?(state::success):(state::failure));
setColor(ui->label_RU_SBIT,((health&0x0100) > 0)?(state::success):(state::failure));
setColor(ui->label_RU_ZERO,((health&0x0080) > 0)?(state::success):(state::failure));
setColor(ui->label_RU_GBIT,((health&0x0040) > 0)?(state::success):(state::failure));
setColor(ui->label_RE_SBIT,((health&0x0800) > 0)?(state::success):(state::failure));
setColor(ui->label_RE_ZERO,((health&0x0400) > 0)?(state::success):(state::failure));
setColor(ui->label_RE_GBIT,((health&0x0200) > 0)?(state::success):(state::failure));
setColor(ui->label_RA_SBIT,((health&0x4000) > 0)?(state::success):(state::failure));
setColor(ui->label_RA_ZERO,((health&0x2000) > 0)?(state::success):(state::failure));
setColor(ui->label_RA_GBIT,((health&0x1000) > 0)?(state::success):(state::failure));
}