修复变体数据不能保存bug

App/StatusUI/StatusUI.cpp

@@ -36,7 +36,9 @@ StatusUI::StatusUI(QWidget *parent) :
     install(base,0,"滚转角[°]",0,QMap<QVariant, StateWidget::state>{{-45,StateWidget::state::red},{45,StateWidget::state::green}});
     install(base,0,"俯仰角[°]",0,QMap<QVariant, StateWidget::state>{{-20,StateWidget::state::red},{20,StateWidget::state::green}});
     install(base,0,"爬升角[°]",0,QMap<QVariant, StateWidget::state>{{-45.0,StateWidget::state::red},{45,StateWidget::state::green}});
-    install(base,0,"海拔[m]",0,QMap<QVariant, StateWidget::state>{{970,StateWidget::state::red},{1800,StateWidget::state::orange},{999000,StateWidget::state::green}});
+    install(base,0,"GPS高度[m]",0,QMap<QVariant, StateWidget::state>{{970,StateWidget::state::red},{1800,StateWidget::state::orange},{999000,StateWidget::state::green}});
+    install(base,0,"气压高度[m]",0,QMap<QVariant, StateWidget::state>{{970,StateWidget::state::red},{1800,StateWidget::state::orange},{999000,StateWidget::state::green}});
+
     install(base,0,"表速[m/s]",0,QMap<QVariant, StateWidget::state>{{65,StateWidget::state::red},{160,StateWidget::state::green}});
     install(base,0,"真空速[m/s]",0,QMap<QVariant, StateWidget::state>{{50,StateWidget::state::red},{290,StateWidget::state::green}});
     install(base,0,"地速[m/s]",0,QMap<QVariant, StateWidget::state>{{50,StateWidget::state::red},{290,StateWidget::state::green}});
@@ -182,6 +184,16 @@ StatusUI::StatusUI(QWidget *parent) :
                                                {2,StateWidget::state::red},
                                                {5,StateWidget::state::orange},
                                                {15,StateWidget::state::green}});
+    install(battery, 0, "左变体电流[A]", 0,  QMap<QVariant, StateWidget::state>{{0,StateWidget::state::green},
+                                                                                {5,StateWidget::state::orange},
+                                                                                {10,StateWidget::state::red}});
+
+    install(battery, 0, "右变体电流[A]", 0,  QMap<QVariant, StateWidget::state>{{0,StateWidget::state::green},
+                                                                                {5,StateWidget::state::orange},
+                                                                                {10,StateWidget::state::red}});
+    install(battery, 0, "左变体转动方向", 0);
+    install(battery, 0, "右变体转动方向", 0);
+
 /*
     install(battery,0,"左轮速[RPM]",0,
             QMap<QVariant, StateWidget::state>{{1,StateWidget::state::red},

App/ToolsUI/Parse.cpp

@@ -1,4 +1,4 @@
-#include "Parse.h"
+#include "Parse.h"
 
 Parse::Parse(QObject *parent) : QObject(parent)
 {
@@ -915,8 +915,38 @@ void Parse::run()
                 group.left_brake = data[data_count++];
                 group.right_brake = data[data_count++];
 
+                //变体舵机电流、方向
+                Variant var;
+
+                union
+                {
+                    uint8_t c[2];
+
+                    int t;
+                } test;
+
+                test.t = 0;
+                data = raw.mid(247);
+                test.c[0] = data[0];
+                test.c[1] = data[1];
+
+                var.l_var_current = test.t * 0.1;
+
+                test.t = 0;
+                test.c[0] = data[2];
+                test.c[1] = data[3];
+
+                var.r_var_current = test.t * 0.1;
+
+                var.l_var_dir = data[4];
+                var.r_var_dir = data[5];
+
+                qDebug() << "variant: " << data;
+
+                saveVariantToFile(var);
                 saveActuatorDataToFile(group);
                 emit actuator_info_brake(group);
+                emit variantInfo(var);
 
             }
 
@@ -1849,6 +1879,28 @@ void Parse::parseData(const int id, const QByteArray data)
     */
 }
 
+void Parse::saveVariantToFile(const Variant &var)
+{
+    QFile file(variant_file_name);
+    if(file.open(QIODevice::Append) )
+    {
+        qDebug() << u8"保存variant数据";
+        QTextStream stream(&file);
+        stream.setCodec("UTF-8");
+
+        stream << QDateTime::currentDateTime().toString("yyyyMMddHHmmss").toUtf8() << ",";
+        stream << var.l_var_current << ",";
+        stream << var.r_var_current << ",";
+        stream << (var.l_var_dir ? "inversion" : "foreward") << ",";
+        stream << (var.r_var_dir ? "inversion" : "foreward") << "\n";
+
+        stream.flush();
+
+        file.flush();
+        file.close();
+    }
+}
+
 void Parse::saveInsDataToFile(const _ins &ins)
 {
     QFile file(ins_file_name);

App/ToolsUI/Parse.h

@@ -11,6 +11,18 @@
 #include "QFile"
 #include "QDateTime"
 #include "QDataStream"
+#include <QMetaType>
+
+typedef struct
+{
+    float l_var_current;    //左变体电流
+    float r_var_current;    //右变体电流
+    quint8 l_var_dir;   //左变体方向
+    quint8 r_var_dir;   //右变体方向
+} Variant;
+
+Q_DECLARE_METATYPE(Variant);
+
 
 class Parse : public QObject, public QRunnable
 {
@@ -497,6 +509,7 @@ public:
     QString sspc_file_name;
     QString vel_file_name;
     QString pos_file_name;
+    QString variant_file_name;
 
     explicit Parse(QObject *parent = nullptr);
     ~Parse();
@@ -533,8 +546,18 @@ signals:
    void pos_info(Parse::_pos info);
 
    void SSPC_Info_state(Parse::_sspc info);
+   /**
+    * @brief 变体舵机信息
+    * @param info
+    */
+   void variantInfo(Variant const &info);
 
 private:
+   /**
+    * @brief 将变体的信息保存到文件中
+    * @param var
+    */
+   void saveVariantToFile(Variant const &var);
    /**
     * @brief 把ins解析的数据保存到文件
     * @param ins 保存ins数据的结构体

App/ToolsUI/ToolsUI.cpp

@@ -1,4 +1,4 @@
-#include "ToolsUI.h"
+#include "ToolsUI.h"
 #include "ui_ToolsUI.h"
 #include <QTextStream>
 
@@ -221,12 +221,15 @@ void ToolsUI::recieveDataSlot(const int &id, const QByteArray &data)
     parse->sspc_file_name = sspc_file_name;
     parse->vel_file_name = vel_file_name;
     parse->pos_file_name = pos_file_name;
+    parse->variant_file_name = variant_file_name;
 
     connect(this,&ToolsUI::parseData,
             parse,&Parse::parseData);
 
     if(id == 0)
     {
+        connect(parse, SIGNAL(variantInfo(Variant) ) , this, SIGNAL(variantInfo(Variant) ) );
+
         connect(parse,&Parse::INS_Info,
                 ins,&INS::INS_Info);
 
@@ -942,6 +945,26 @@ void ToolsUI::createRecordDataFiles()
         file.flush();   //将数据刷新到文件中
         file.close(); //关闭文件
     }
+
+    variant_file_name = QString("./log/other/variant_%1.csv").arg(QDateTime::currentDateTime().toString("yyyyMMddHHmmss") );
+    file.setFileName(variant_file_name);
+    if(file.open(QIODevice::WriteOnly | QIODevice::Text) )
+    {
+//        QByteArray data;
+
+        QTextStream stream(&file);
+
+        stream.setCodec("utf-8");
+        stream << tr("time,");
+        stream << tr("l_var_current,");
+        stream << tr("r_var_current,");
+        stream << tr("l_var_dir,");
+        stream << tr("r_var_dir\n");
+
+//        stream << data;
+        file.flush();   //将数据刷新到文件中
+        file.close(); //关闭文件
+    }
 }
 
 

App/ToolsUI/ToolsUI.h

@@ -78,6 +78,12 @@ private slots:
 
 
 signals:
+    /**
+     * @brief 变体舵机信息
+     * @param info
+     */
+   void variantInfo(Variant const &info);
+
    void IndexChanged(const int &index);
 
    void recieveData(const int &id,const QByteArray &data);
@@ -140,6 +146,8 @@ private:
     QString sspc_file_name;
     QString vel_file_name;
     QString pos_file_name;
+    QString variant_file_name;
+
 
 };
 

App/mainwindow.cpp

@@ -171,6 +171,8 @@ MainWindow::MainWindow(QWidget *parent)
     qRegisterMetaType<uint8_t>("uint8_t");
 
     qRegisterMetaType<MavLinkNode::_vehicle>("MavLinkNode::_vehicle");
+    qRegisterMetaType<Variant>("Variant");
+
 
 
 
@@ -214,11 +216,14 @@ MainWindow::MainWindow(QWidget *parent)
     toolsui = new ToolsUI(this);
     toolsui->hide();
 
+    connect(toolsui, &ToolsUI::variantInfo, this, &MainWindow::showVariantInfo);
+
     //状态
 
     statusui = new StatusUI(this);
     statusui->hide();
 
+
     healthui = new HealthUI(this);
     healthui->hide();
 
@@ -869,6 +874,14 @@ MainWindow::~MainWindow()
     QCoreApplication::quit();//退出所有窗口
 }
 
+void MainWindow::showVariantInfo(const Variant &var)
+{
+    statusui->setValue(1, 0, 12, QString::number(var.l_var_current, 'f', 1));
+    statusui->setValue(1, 0, 13, QString::number(var.r_var_current, 'f', 1));
+    statusui->setValue(1, 0, 14, var.l_var_dir ? "反转" : "正转");
+    statusui->setValue(1, 0, 15, var.r_var_dir ? "反转" : "正转");
+}
+
 
 void MainWindow::setBeep(QVariant state)
 {
@@ -1380,8 +1393,9 @@ QList<double> vtr_fix{+7E-10,-2E-06,+0.0176,+37.809};
 
 QList<double> dal_fix{-3E-09,-3E-06,-0.0343,+0.2415};
 QList<double> dar_fix{-2E-09,-2E-06,-0.0340,+0.0294};
-QList<double> drl_fix{-3E-09,-9E-07,-0.0334,-0.0413};
-QList<double> drr_fix{+3E-09,+1E-06,+0.0334,+0.0183};
+
+QList<double> drl_fix{-2E-09,-8E-07,-0.0336,-0.4362};
+QList<double> drr_fix{+2E-09,+9E-07,+0.0335,-0.5028};
 
 QList<double> del_fix{-1E-09,+2E-07,-0.0263,+0.3685};
 QList<double> der_fix{-1E-09,+3E-07,-0.0264,+0.9127};
@@ -1419,8 +1433,8 @@ void MainWindow::update_servo_output_raw(int sysid,mavlink_servo_output_raw_t se
 
         dal_fix  = {-3E-09,-3E-06,-0.0343,+0.2415};
         dar_fix  = {-2E-09,-2E-06,-0.0340,+0.0294};
-        drl_fix  = {-3E-09,-9E-07,-0.0334,-0.0413};
-        drr_fix  = {+3E-09,+1E-06,+0.0334,+0.0183};
+        drl_fix  = {-2E-09,-8E-07,-0.0336,-0.4362};
+        drr_fix  = {+2E-09,+9E-07,+0.0335,-0.5028};
 
         del_fix  = {-9E-10,+3E-07,-0.0263,+0.9651};
         der_fix  = {-9E-10,+3E-07,-0.0265,+0.925};
@@ -1435,8 +1449,8 @@ void MainWindow::update_servo_output_raw(int sysid,mavlink_servo_output_raw_t se
 
         dal_fix  = {-3E-09,-3E-06,-0.0343,+0.2415};
         dar_fix  = {-2E-09,-2E-06,-0.0340,+0.0294};
-        drl_fix  = {-3E-09,-9E-07,-0.0334,-0.0413};
-        drr_fix  = {+3E-09,+1E-06,+0.0334,+0.0183};
+        drl_fix  = {-2E-09,-8E-07,-0.0336,-0.4362};
+        drr_fix  = {+2E-09,+9E-07,+0.0335,-0.5028};
 
         del_fix  = {-1E-09,+2E-07,-0.0263,+0.3685};
         der_fix  = {-1E-09,+3E-07,-0.0264,+0.9127};
@@ -1605,7 +1619,7 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
 
         break;
     case 2://气压
-        copk->setHeight(vehicle.vfr_hud.alt);
+        //copk->setHeight(vehicle.vfr_hud.alt);
 
         break;
 
@@ -1614,7 +1628,7 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
 
 
 
-    copk->setOL(vehicle.ins1.az/(-9.8));
+    //copk->setOL(vehicle.ins1.az/(-9.8));
 
 
     copk->setVerticalSpeed(vehicle.vfr_hud.climb);//朝上为正
@@ -1998,26 +2012,31 @@ void MainWindow::updateVehicle(MavLinkNode::_vehicle vehicle)//事件驱动式
         }
 
 
-        statusui->setValue(0,0,5,QString::number(vehicle.global_position_int.alt * 10e-4,'f',1));
-        statusui->setValue(0,0,6,QString::number(vehicle.vfr_hud.airspeed,'f',1));
-        //statusui->setValue(0,0,7,QString::number(vehicle.emb_atom_com.Airspeed,'f',1));
+        //GPS高度
+        statusui->setValue(0,0,5,QString::number(vehicle.vfr_hud.alt,'f',1));
+
+
+
+
+        statusui->setValue(0,0,7,QString::number(vehicle.vfr_hud.airspeed,'f',1));
+        //statusui->setValue(0,0,8,QString::number(vehicle.emb_atom_com.Airspeed,'f',1));
 
         if(vehicle.vfr_hud.groundspeed < 1)
         {
-            statusui->setValue(0,0,8,QString::number(vehicle.vfr_hud.groundspeed,'f',3));
+            statusui->setValue(0,0,9,QString::number(vehicle.vfr_hud.groundspeed,'f',3));
         }
         else if(vehicle.vfr_hud.groundspeed < 10)
         {
-            statusui->setValue(0,0,8,QString::number(vehicle.vfr_hud.groundspeed,'f',1));
+            statusui->setValue(0,0,9,QString::number(vehicle.vfr_hud.groundspeed,'f',1));
         }
         else
         {
-            statusui->setValue(0,0,8,QString::number(vehicle.vfr_hud.groundspeed,'f',0));
+            statusui->setValue(0,0,9,QString::number(vehicle.vfr_hud.groundspeed,'f',0));
         }
 
 
 
-        //statusui->setValue(0,0,9,QString::number(vehicle.emb_atom_com.mach,'f',2));
+        //statusui->setValue(0,0,10,QString::number(vehicle.emb_atom_com.mach,'f',2));
 
 
         /*
@@ -2435,7 +2454,10 @@ void MainWindow::TotalDistance(double value)
 
 void MainWindow::INS_Info(Parse::_ins info)
 {
-
+     if(copk)
+     {
+        copk->setOL(info.az/(9.8));
+     }
 }
 
 void MainWindow::NAV_Info(Parse::_nav info)
@@ -2592,8 +2614,8 @@ void MainWindow::EADC_Info(Parse::_eadc info)
         statusui->setValue(0,0,0,QString::number(info.aoat1,'f',1));
         statusui->setValue(0,0,1,QString::number(info.aost1,'f',1));
 
-        statusui->setValue(0,0,7,QString::number(info.vt,'f',1));
-        statusui->setValue(0,0,9,QString::number(info.mi,'f',3));
+        statusui->setValue(0,0,8,QString::number(info.vt,'f',1));
+        statusui->setValue(0,0,10,QString::number(info.mi,'f',3));
     }
 
 
@@ -2614,6 +2636,29 @@ void MainWindow::EADC_Info(Parse::_eadc info)
 
     }
 
+
+    switch (copk->AltitudeFlag()) {
+    default:
+    case 0://绝对
+        //copk->setHeight(vehicle.global_position_int.alt * 10e-4);
+
+        break;
+    case 1://相对
+        //copk->setHeight(vehicle.global_position_int.relative_alt * 10e-4);
+
+        break;
+    case 2://气压
+        copk->setHeight(info.hp);
+
+        break;
+
+    }
+
+
+    //气压高度
+    statusui->setValue(0,0,6,QString::number(info.hp,'f',1));
+
+
     Ma = info.mi;
 
     copk->setAOA(info.aoai1);

App/mainwindow.h

@@ -75,6 +75,11 @@ public:
 
 
 public slots:
+    /**
+     * @brief 显示变体舵机信息
+     * @param var
+     */
+    void showVariantInfo(Variant const &var);
     void showMessage(const QString &message,int TimeOut = 0);
 
     void setCommunicationLostState(bool flag);

Cockpit/Cockpit.cpp

@@ -1405,7 +1405,7 @@ void Cockpit::drawRightScale(QPainter *painter)
      painter->drawRect(0,600,550,150);
 
 
-     painter->drawText(QRect(10,600,530,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.height,'f',0));
+     painter->drawText(QRect(10,600,530,150),Qt::AlignLeft|Qt::AlignVCenter,QString::number(m_State.height,'f',1));
 
      QString alt_str;
      switch (m_State.AltitudeFlag) {