#include "mainwindow.h"
#include "QPushButton"
#include "QAction"

#include "QHBoxLayout"

//从0开始
bool getBit(uint32_t d,int32_t pos)
{
    bool bit = false;

    bit = (d >> pos) & 0x00000001;

    return bit;
}

float to360deg(float raw)
{
    float angle = 0;

     if(raw > 360)
     {
         int a = (int)raw/360;
                 raw = raw - a *360;
     }
     else if(raw < -360)
     {
         int a = (int)raw/360;
                 raw = raw - a *360;
     }

     //0~360
     if(raw < 0)
     {
         raw += 360;
     }

     angle = raw;

    return angle;
}




MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
{  
    //setGeometry();

    //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
    */



    setFocusPolicy(Qt::StrongFocus);
    setAttribute(Qt::WA_AcceptTouchEvents);

    tts = new QTextToSpeech(this);

    //config

    config = new Config();



    //ui initial
    //menubar
    menuBarUI = new MenuBarUI(this);

    connect(menuBarUI,SIGNAL(IndexChanged(int)),
            this,SLOT(onTabIndexChanged(int)));


    qDebug() << "menuBar init";
    //---------------
    //设置
    setting = new Setting(this);
    setting->hide();

    //自检
    checkUI = new CheckUI(this);
    checkUI->hide();

    //信息
    toolsui = new ToolsUI(this);
    toolsui->hide();

    //状态

    //statusui = new StatusUI(this);
    //statusui->hide();

    //healthui = new HealthUI(this);
    //指令
    commandUI = new CommandUI(this);




    dlink = new DLink();

    map = new mapcontrol::OPMapWidget(this);

    map->SetShowHome(false);
    map->SetShowCompass(false);
    map->SetUseOpenGL(true);

    map->setAttribute(Qt::WA_AlwaysStackOnTop);

    //QString maptype = myinifile->ReadIni("GCS.ini","Map","Type");
    map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingHybrid"));
    map->setWPLock(true);
    map->setFocus();
    map->setMouseTracking(true);

    map->setGeometry(0,
                     0,
                     this->width(),
                     this->height());

    map->SetZoom(10);

    qDebug() << "map start";


    copk = new Cockpit(this);
    copk->setGeometry(this->width() - copk->width(),0,400,350);


    missionUI = new propertyui(this);
    missionUI->hide();


    //commandbox ----- dlink
    connect(toolsui->command,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
            dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);


    connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
            toolsui->command,SLOT(addVehicles(int,int)),Qt::DirectConnection);

    connect(toolsui->command,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
            dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);

    //command ----- map

    connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
            commandUI,SLOT(addVehicles(int,int)),Qt::DirectConnection);


    connect(map,SIGNAL(PointNumber(int)),
            commandUI,SLOT(setPointCount(int)),Qt::DirectConnection);

    //this ----- dlink
    connect(dlink->mavlinknode,SIGNAL(beep()),
            this,SLOT(beep()),Qt::DirectConnection);

    connect(dlink->mavlinknode,SIGNAL(CommuniationLost(bool)),
            this,SLOT(setCommunicationLostState(bool)),Qt::DirectConnection);


    //this ----- map
    connect(map,SIGNAL(TotalDistanceUpdate(double)),
            this,SLOT(TotalDistance(double)));

    //tools ----- map
    connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
            toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)),Qt::DirectConnection);

    //dlink ----- tools
    connect(toolsui->index2,SIGNAL(setPlay(bool)),
            dlink->mavlinknode->replay,SLOT(startReplay(bool)),Qt::DirectConnection);

    connect(toolsui->index2,SIGNAL(setFileName(QString)),
            dlink->mavlinknode,SLOT(setLogfile(QString)),Qt::DirectConnection);

    connect(toolsui->index2,SIGNAL(setPercentage(float)),
            dlink->mavlinknode->replay,SLOT(setPercentage(float)),Qt::DirectConnection);

    connect(dlink->mavlinknode->replay,SIGNAL(currentPercentage(float)),
            toolsui->index2,SLOT(setCurrentPercentage(float)),Qt::DirectConnection);

    connect(dlink->mavlinknode->replay,SIGNAL(replayComplete()),
            toolsui->index2,SLOT(ReplayComplete()),Qt::DirectConnection);

    //setting ----- map
    connect(setting->index0->mapsetting,SIGNAL(getMapTypes()),
            map,SLOT(getMapTypes()));

    connect(map,SIGNAL(MapTypes(QStringList)),
            setting->index0->mapsetting,SLOT(MapTypes(QStringList)));

    connect(setting->index0->mapsetting,SIGNAL(setMapTypes(QVariant)),
            map,SLOT(setMapTypes(QVariant)));


    //command ----- dlink
    connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
            dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);


    connect(dlink->mavlinknode->Commander,SIGNAL(commandAccepted(bool,uint16_t,uint8_t)),
            commandUI,SLOT(commandAccepted(bool,uint16_t,uint8_t)),Qt::DirectConnection);

    //check ----- dlink
    connect(checkUI,SIGNAL(cmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),
            dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float,uint16_t,uint8_t)),Qt::DirectConnection);

    connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
            checkUI,SLOT(RecieveMsg(mavlink_message_t)));

    connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
            checkUI,SLOT(addVehicles(int,int)));

    //setting ----- dlink
    connect(dlink,SIGNAL(PortConnected(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
            setting->index0->link,SIGNAL(PortConnect(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));

    connect(dlink->mavlinknode,SIGNAL(state_updated()),
            this,SLOT(updateUI()));

    connect(setting->index0->link,SIGNAL(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)),
            dlink,SLOT(connectSignal(QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant,QVariant)));

    qRegisterMetaType<mavlink_message_t>("mavlink_message_t");

    connect(dlink->mavlinknode->Parameter,SIGNAL(RecieveValue(mavlink_message_t)),
            setting->index1->paramInspect,SLOT(appendParameter(mavlink_message_t)));

    connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
            setting->index1->paramInspect,SLOT(addVehicles(int,int)),Qt::DirectConnection);

    connect(setting->index1->paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
            dlink->mavlinknode->Parameter,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);

    connect(setting->index1->paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
            dlink->mavlinknode->Parameter,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);

    //mision  ----- map
    connect(map, SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
            missionUI,SLOT(setWayPointProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));

    connect(missionUI,SIGNAL(WayPointPropertyChanged(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
            map,SIGNAL(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));


    connect(missionUI,SIGNAL(WPotherPoint(int)),
            map,SLOT(WPotherPoint(int)));


    connect(missionUI,SIGNAL(WPDelete(int)),
            map,SLOT(WPDelete(int)));

    connect(missionUI,SIGNAL(WPInsert(int)),
            map,SLOT(WPInsert(int)));

    connect(missionUI,SIGNAL(WPUpload()),
            map,SLOT(WPUpload()));

    connect(missionUI,SIGNAL(WPDownload()),
            map,SLOT(WPDownload()));

    connect(missionUI,SIGNAL(WPSave(QString)),
            map,SLOT(WPSave(QString)));

    connect(missionUI,SIGNAL(WPLoad(QString)),
            map,SLOT(WPLoad(QString)));

    connect(map,SIGNAL(allPoint(QMap<int,int>)),
            missionUI,SLOT(setallPoint(QMap<int,int>)));

    connect(missionUI,SIGNAL(searchall()),
            map,SLOT(WPsearchall()));

    //dlink  ----- map
    connect(map,SIGNAL(signal_WPDownload(uint8_t, uint8_t)),
            dlink->mavlinknode->Mission,SLOT(ReadCmd(uint8_t, uint8_t)),Qt::DirectConnection);

    connect(map,SIGNAL(signal_WPUpload(uint8_t,uint8_t,uint32_t)),
            dlink->mavlinknode->Mission,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);


    //生成航线必须在map线程完成，因此不能直接连接
    //停下来让ui、运行一下
    connect(dlink->mavlinknode->Mission,SIGNAL(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
            map,SLOT(receivedPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::BlockingQueuedConnection);

    connect(map,SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
            dlink->mavlinknode->Mission,SLOT(transmitPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);

    connect(dlink->mavlinknode->Mission,SIGNAL(clearWaypoint()),
            map,SLOT(WPDeleteAll()));


    connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
            map,SLOT(addUAV(int,int)));

    connect(map,SIGNAL(uav_selected(int,int)),
            dlink->mavlinknode,SLOT(setCurrentSelected(int,int)),Qt::DirectConnection);

    connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)),
            map,SLOT(WPSendItemOK(uint16_t,bool)),Qt::DirectConnection);

    //航点确认窗口
    connect(map,SIGNAL(setCurrent(int)),
            commandUI,SLOT(missionConfirm(int)),Qt::DirectConnection);


    connect(commandUI,SIGNAL(SetCurrentPoint(int)),
            dlink->mavlinknode->Mission,SLOT(SetCurrentPoint(int)),Qt::DirectConnection);




    connect(dlink->mavlinknode->Mission,SIGNAL(currentPoint(int)),
            map,SLOT(WPSetCurrent(int)),Qt::DirectConnection);

    //==== showmessage=====
    //connect(toolsui->command,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
    connect(commandUI,SIGNAL(showMessage(QString,int)),this,SLOT(showMessage(QString,int)));
    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)));

    qDebug() << "main window start";
    //监测ssl，用于网络连接
    qDebug()<<"QSslSocket="<<QSslSocket::sslLibraryBuildVersionString();
    qDebug() << "OpenSSL支持情况:" << QSslSocket::supportsSsl();

    //showMessage(tr("航点传输有问题，无法传输最后一个点，航点计数可能有问题"));

}

MainWindow::~MainWindow()
{
    if(tts)
    {
        tts->stop();
        delete tts;
        tts = nullptr;
    }

    if(map)
    {
        map->close();
        delete map;
    }

    if(dlink)
    {
        //dlink->stopPort();
        delete dlink;
    }

    if(copk)
    {
        copk->close();
        delete  copk;
    }

    QCoreApplication::quit();//退出所有窗口
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    event->accept();
    QCoreApplication::quit();//退出所有
}

void MainWindow::resizeEvent(QResizeEvent *event)
{
    qDebug() << event;

    Q_UNUSED(event)


    menuBarUI->setGeometry(0,0,this->width(),100);

    qDebug() << "resize";

    setting->setGeometry(0,menuBarUI->height(),
                         this->width(),this->height() - menuBarUI->height());

    checkUI->setGeometry(0,menuBarUI->height(),
                         this->width(),this->height() - menuBarUI->height());


    map->setGeometry(0,menuBarUI->height(),
                     this->width()- copk->width(),this->height() - menuBarUI->height());

    if(MainIndex == 2)//renwu
    {
        map->setGeometry(0,menuBarUI->height(),
                         this->width()- copk->width(),this->height() - menuBarUI->height());
    }

    //if(MainIndex == 5)//renwu
    {
        /*
        if(statusui->isHidden())
        map->setGeometry(0,menuBarUI->height(),
                         this->width()- copk->width(),this->height() - menuBarUI->height());
                         */
    }


    copk->setGeometry(this->width() - copk->width(),menuBarUI->height(),
                      copk->width(),copk->height());


    missionUI->setGeometry(this->width() - copk->width(),menuBarUI->height(),
                           copk->width(),this->height() - menuBarUI->height());




    commandUI->setGeometry(this->width() - copk->width(),menuBarUI->height() + copk->height(),
                           copk->width(),this->height() - menuBarUI->height() - copk->height());


    toolsui->setGeometry(0,menuBarUI->height(),
                         this->width(),this->height() - menuBarUI->height());

    update();
}

//这个是不必要的，因为每个部件都有自己相应的动作
void MainWindow::mousePressEvent(QMouseEvent* event)
{
    Q_UNUSED(event)
}

void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
{
    qInfo() << "key" << event;
    //qDebug() << event;
    switch(event->key())
    {
       case Qt::Key_Up:
        qDebug() << "Key_Up";
       break;
       case Qt::Key_Down:
        qDebug() << "Key_Down";
       break;
       case Qt::Key_Left:
        qDebug() << "Key_Left";
       break;
       case Qt::Key_Right:
        qDebug() << "Key_Right";
       break;
       case Qt::Key_D:
            if(event->modifiers() == Qt::AltModifier)
            {
              qInfo() << "alt + D";
            }
       break;
        case Qt::Key_U :
        {
            if(event->modifiers() == Qt::AltModifier)
            {
              qInfo() << "atl + U";
            }
        }break;
        case Qt::Key_P :
        {
            if(event->modifiers() == Qt::AltModifier)
            {//下载参数
              qInfo() << "atl + P";
            }
        }break;
        case Qt::Key_O :
        {
            if(event->modifiers() == Qt::AltModifier)
            {//上传参数
              qInfo() << "atl + O";
            }
        }break;
        case Qt::Key_S:
        break;
        case Qt::Key_W:
        break;
        case Qt::Key_K :
        {
            if(event->modifiers() == Qt::ControlModifier)
            {

            }
        }
        break;
        case Qt::Key_Space :
        {
            //map->setcu
            map->SetCurrentPosition();
            //根据选中的飞机设置当前位置
        }
        break;
        case Qt::Key_Equal :
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {

            }
            else
            {
               map->SetZoom(map->ZoomReal() + 1);
            }
        }
        break;
        case Qt::Key_Plus :
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {

            }
        }
        break;
        case Qt::Key_Minus:
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {

            }
            else
            {
               map->SetZoom(map->ZoomReal() - 1);
            }
        }
        break;
        case Qt::Key_C:
        {
            if(event->modifiers() == Qt::AltModifier)
            {
                 map->DeleteTrail();
            }
        }
        break;
    }
}

bool MainWindow::event(QEvent *event)
{
    /*
    switch (event->type()) {
    case QEvent::TouchBegin:
    case QEvent::TouchUpdate:
    case QEvent::TouchEnd:
    {
        qDebug() <<"CProjectionPicture::event";
        QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
        QList<QTouchEvent::TouchPoint> touchPoints = touchEvent->touchPoints();
        if (touchPoints.count() == 2) {
            //m_bIsTwoPoint = true;//两指时不让移动
            const QTouchEvent::TouchPoint &touchPoint0 = touchPoints.first();
            const QTouchEvent::TouchPoint &touchPoint1 = touchPoints.last();
            qreal currentScaleFactor =
                    QLineF(touchPoint0.pos(), touchPoint1.pos()).length()
                    / QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length();

            if (touchEvent->touchPointStates() & Qt::TouchPointReleased) {
                if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() > QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
                  map->SetZoom(map->ZoomReal() + currentScaleFactor);
                else if(QLineF(touchPoint0.pos(), touchPoint1.pos()).length() < QLineF(touchPoint0.startPos(), touchPoint1.startPos()).length())
                  map->SetZoom(map->ZoomReal() - currentScaleFactor);
                qDebug() << "currentScaleFactor" << currentScaleFactor;
            }

            update();
        }
        else if(touchPoints.count() == 1){
            //m_bIsTwoPoint = false;
        }
        return true;
    }
    default:
        break;
    }
    */

    return QWidget::event(event);
}


void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
{
    //记录主界面目录
    MainIndex = index;
    //设置
    if(index == 0) setting->show();
    else           setting->hide();

    //自检
    if(index == 1) checkUI->show();
    else           checkUI->hide();

    //任务
    if(index == 2)
    {
        map->setWPLock(false);
        map->setWPCreate(true);
        missionUI->show();

    }
    else
    {
        map->setWPLock(true);
        map->setWPCreate(false);
        missionUI->hide();
    }

    if((index == 2)||(index == 3)||(index == 5)) map->show();
    else                           map->hide();


    //飞行
    if(index == 3)
    {
        copk->show();
        commandUI->show();
        //statusui->show();
        //healthui->show();
    }
    else
    {
        copk->hide();
        commandUI->hide();
        //statusui->hide();
        //healthui->hide();
    }


    //信息
    if(index == 4) toolsui->show();
    else           toolsui->hide();


    if(index == 5)
    {

            copk->show();
            commandUI->show();
            //statusui->hide();
            //healthui->show();

    }
    else
    {
       //statusui->hide();
    }


    resizeEvent(nullptr);
}



void MainWindow::showMessage(const QString &message, int TimeOut)
{
    menuBarUI->showMessage(message,TimeOut);
}

void MainWindow::beep(void)
{
    QApplication::beep();
}


void MainWindow::setCommunicationLostState(bool flag)
{
    static bool last = false;

    isCommunicationLost = flag;


    //healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(HealthUI::state::failure):(HealthUI::state::success));//DLINK

    if(flag == true)//通讯丢失
    {
        if(last != flag)
        {
            showMessage(tr("Communication Lost"),3000);
            tts->say(tr("Communication Lost"));
        }
/*
        healthui->setState(1,HealthUI::state::failure);
        healthui->setState(2,HealthUI::state::failure);
        healthui->setState(4,HealthUI::state::failure);
        healthui->setState(3,HealthUI::state::failure);
        healthui->setState(5,HealthUI::state::failure);
        healthui->setState(6,HealthUI::state::failure);
        healthui->setState(7,HealthUI::state::failure);
        healthui->setState(8,HealthUI::state::failure);
        healthui->setState(11,HealthUI::state::failure);
        healthui->setState(12,HealthUI::state::failure);
        healthui->setState(13,HealthUI::state::failure);
        healthui->setState(14,HealthUI::state::failure);
        healthui->setState(15,HealthUI::state::failure);
        healthui->setState(21,HealthUI::state::failure);
        healthui->setState(22,HealthUI::state::failure);
        healthui->setState(23,HealthUI::state::failure);
        healthui->setState(24,HealthUI::state::failure);
        healthui->setState(25,HealthUI::state::failure);

        healthui->setState(30,HealthUI::state::failure);
*/
    }
    else
    {
        if(last != flag)
        {
            showMessage(tr("Communication Regain"),3000);
            tts->say(tr("Communication Regain"));
        }
    }

    last = flag;
}



// 16~20Hz左右 运行频率可能太高
void MainWindow::updateUI()//事件驱动式更新数据
{
    static uint32_t custommode_old = 0;
    static uint8_t state_old = 0;
    bool isCustomChanged = false;
    bool isStateChanged = false;

    static quint64 lastTime = QDateTime::currentMSecsSinceEpoch();

    static qint64 frq_time = 0;
    if((QDateTime::currentMSecsSinceEpoch() - frq_time) <= 200)
    {
         return;
    }
    frq_time = QDateTime::currentMSecsSinceEpoch();


    copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,
                      dlink->mavlinknode->vehicle.attitude.roll * 57.3,
                      dlink->mavlinknode->vehicle.attitude.yaw * 57.3);

    copk->setAltitude(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 10e-4);
    copk->setAltitudeTarget(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 10e-4
                           +dlink->mavlinknode->vehicle.nav_controller_output.alt_error);

    //dlink->mavlinknode->vehicle.vfr_hud.airspeed //表速
    //dlink->mavlinknode->vehicle.gps_raw_int.vel//地速

    copk->setAirSpeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed,5);//真空速
    copk->setAirSpeedTarget(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed
                           +dlink->mavlinknode->vehicle.nav_controller_output.aspd_error,5);

    //c t g m
    switch (copk->AirSpeedFlag()) {
    case 0:
        copk->setSpeed(dlink->mavlinknode->vehicle.vfr_hud.airspeed,copk->AirSpeedFlag());//表速
        break;
    case 1:
        copk->setSpeed(dlink->mavlinknode->vehicle.emb_atom_com.Airspeed,copk->AirSpeedFlag());//真空速
        break;
    case 2:
        copk->setSpeed(dlink->mavlinknode->vehicle.gps_raw_int.vel * 0.01,copk->AirSpeedFlag());//地速
        break;
    case 3:
        copk->setSpeed(dlink->mavlinknode->vehicle.emb_atom_com.mach,copk->AirSpeedFlag());//马赫
        break;

    }

    copk->setAOA(dlink->mavlinknode->vehicle.emb_atom_com.alpha);
    copk->setOL(dlink->mavlinknode->vehicle.ins1.az/(-9.8));


    copk->setVerticalSpeed(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3);//速度朝下为正



    copk->setAlt_err(dlink->mavlinknode->vehicle.nav_controller_output.alt_error);//高度差 飞机在航线下面为正
    copk->setXTrack(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error);//侧偏距 飞机在航线右侧为正

    copk->setRollTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll);//
    copk->setPitchTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch);//
    copk->setYawTarget(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing);//



    QString gps_str;
    gps_str.clear();

    switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
    case 1:
    case 2:
    case 3:
        gps_str.append(tr("%1D[%2颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type).arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
        break;
    case 4:
        gps_str.append(tr("fix[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
        break;
    case 5:
        gps_str.append(tr("float[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
        break;
    default:
        gps_str.append(tr("err[%1颗]").arg(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));
        break;
    }

    copk->setGPS(gps_str);


    QString arm_str;
    arm_str.clear();

    uint8_t state = 0;

    state = (dlink->mavlinknode->vehicle.heartbeat.base_mode&MAV_MODE_FLAG::MAV_MODE_FLAG_SAFETY_ARMED);

    if(state != state_old)
    {
        isStateChanged = true;

        //解锁后清除航迹
        if(state == MAV_MODE_FLAG::MAV_MODE_FLAG_SAFETY_ARMED)
        {
            map->DeleteTrail();
        }
    }
    else
    {
        isStateChanged = false;
    }
    state_old = state;

    switch (state) {
    case MAV_MODE_FLAG_SAFETY_ARMED:
        arm_str.append(tr("ARM"));
        break;
    case 0:
        arm_str.append(tr("DISARM"));
        break;
    default:
        break;
    }
    copk->setState(arm_str);

    uint32_t custommode = dlink->mavlinknode->vehicle.heartbeat.custom_mode;

    if(custommode != custommode_old)
    {
        isCustomChanged = true;
    }
    else
    {
        isCustomChanged = false;
    }
    custommode_old = custommode;


    QString mode_str;
    switch (custommode) {
    case 1<<16:
        mode_str.append(tr("MANUAL"));
        break;
    case 2<<16:
        mode_str.append(tr("ALTCTL"));
        break;
    case 3<<16:
        mode_str.append(tr("POSCTL"));
        break;
    case 4<<16:
        mode_str.append(tr("AUTO"));
        break;
    case 5<<16:
        mode_str.append(tr("ACRO"));
        break;
    case 6<<16:
        mode_str.append(tr("OFFBOARD"));
        break;
    case 7<<16:
        mode_str.append(tr("STABILIZED"));
        break;
    case 8<<16:
        mode_str.append(tr("RATTITUDE"));
        break;
    case 9<<16:
        mode_str.append(tr("STANDBY"));
        break;
    case 10<<16:
        mode_str.append(tr("BIT"));
        break;
    case (4<<16)+(1<<24):
        mode_str.append(tr("AUTO_READY"));
        break;
    case (4<<16)+(2<<24):
        mode_str.append(tr("AUTO_TAKEOFF"));
        break;
    case (4<<16)+(3<<24):
        mode_str.append(tr("AUTO_LOITER"));
        break;
    case (4<<16)+(4<<24):
        mode_str.append(tr("AUTO_MISSION"));
        break;
    case (4<<16)+(5<<24):
        mode_str.append(tr("AUTO_RTL"));
        break;
    case (4<<16)+(6<<24):
        mode_str.append(tr("AUTO_LAND"));
        break;
    case (4<<16)+(7<<24):
        mode_str.append(tr("AUTO_RTGS"));
        break;
    case (4<<16)+(8<<24):
        mode_str.append(tr("AUTO_FOLLOW_TARGET"));
        break;
    default:
        //mode_str.append(tr("unsported"));
        break;
    }
    copk->setMode(mode_str);


    //这里会一直生成一个，导致无法释放
    if(isStateChanged == true)
    {
        tts->say(arm_str);
    }

    if(isCustomChanged == true)
    {
        mode_str.append(tr("flight mode"));
        tts->say(mode_str);
    }






    //经纬度大于正常值，将舍弃

    double lat = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8);
    double lng = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lon * 10e-8);

    if(((lat > -90)&&(lat < 90))&&((lng > -180)&&(lng < 180)))
    {
        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);



    if(MainIndex == 3)//飞行界面
    {
        //刷新时间1Hz
        //显示状态信息  数据链信号状态，定位信号状态，电池状态，解锁状态，剩余飞行时间等
        QString message;

        message.append(tr("<h6>数据强度：<font color=red>%1</font>\t").arg(QString::number(100)));
        message.append(tr("定位类型：<font color=red>%1</font>\t").arg(gps_str));
        message.append(tr("卫星数目：<font color=red>%1</font>颗</h6>").arg(QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible)));
        message.append(tr("<h6>电池电压：<font color=red>%1</font>V\t").arg(QString::number(dlink->mavlinknode->vehicle.sys_status.voltage_battery * 0.001)));
        message.append(tr("剩余时间：<font color=red>%1</font></h6>").arg(QString::number(0)));

        showMessage(message);

    }




    /*
    //实测,r,le,e,la,a
    //有符号16位，-32767 ~ 32767
    le =  dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw
    re =
    ru =
    la =
    ra =
    thr = (1000 ~2000)
    afb = (1000/2000)
    0
    0
    healt
    sbus = feedback (ra)
    sbus = feedback (re)
    sbus = feedback (ru)
    sbus = feedback (la)
    15 sbus = feedback (le)
    health = 0 000 000 000 000 000 //顺序和上面sbus一样
                               GBIT zero SBIT
     //指令

     舵机指令
     自检 2004
     */
/*

    //设置舵机显示

    int ServoPort = 0;
    int16_t servos[16];

    ServoPort = dlink->mavlinknode->vehicle.servo_output_raw.port;
    servos[0] = dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw;
    servos[1] = dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw;
    servos[2] = dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw;
    servos[3] = dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw;
    servos[4] = dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw;
    servos[5] = dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw;
    servos[6] = dlink->mavlinknode->vehicle.servo_output_raw.servo7_raw;
    servos[7] = dlink->mavlinknode->vehicle.servo_output_raw.servo8_raw;
    servos[8] = dlink->mavlinknode->vehicle.servo_output_raw.servo9_raw;
    servos[9] = dlink->mavlinknode->vehicle.servo_output_raw.servo10_raw;
    servos[10] = dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw;
    servos[11] = dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw;
    servos[12] = dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw;
    servos[13] = dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw;
    servos[14] = dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw;
    servos[15] = dlink->mavlinknode->vehicle.servo_output_raw.servo16_raw;

    toolsui->index4->setChannel(ServoPort,servos);


    toolsui->powersystem->setTurbineState(&dlink->mavlinknode->vehicle.turbinstate);
    toolsui->powersystem->setCCMState(&dlink->mavlinknode->vehicle.ccmstate);

    toolsui->powersystem->setMa(dlink->mavlinknode->vehicle.emb_atom_com.mach);
    toolsui->powersystem->setAlt(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4);


    toolsui->servosystem->setBUMState(&dlink->mavlinknode->vehicle.bmustate);
    toolsui->servosystem->setServoState(&dlink->mavlinknode->vehicle.servo_output_raw);


    bool v28_Low = false,v56_Low = false;
    v28_Low = (((float)dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc * 0.1) < 10)?(false):(true);
    v56_Low = (((float)dlink->mavlinknode->vehicle.bmustate.BAT2_remain_perc * 0.1) < 10)?(false):(true);

   // qDebug() << "v28_Low" << v28_Low << "v56_Low" << v56_Low;

    toolsui->servosystem->setCheckState(1,v28_Low || v56_Low);
    toolsui->servosystem->setCheckState(2,v28_Low);
    toolsui->servosystem->setCheckState(3,v56_Low);
    toolsui->servosystem->setCheckState(4,0);
    toolsui->servosystem->setCheckState(5,(dlink->mavlinknode->vehicle.bmustate.p500w_enabled)?(0):(1));


    uint32_t health = dlink->mavlinknode->vehicle.sys_status.onboard_control_sensors_health;

    // 0000 0000 0000 0000 0000 0000 0000 0000
    //                         选通内置（1）|       |fl ccm ecu bmu sbg 内置


    //qDebug() << getBit(0x00000001,0) << getBit(0x00000002,0);
    //0 ok,1 fail ,2 warn

    if(isCommunicationLost == false)
    {

        healthui->setState(1,getBit(health,6)?(getBit(health,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//IMU
        healthui->setState(2,getBit(health,7)?(getBit(health,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//SBG
        healthui->setState(4,getBit(health,8)?(getBit(health,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//BMU
        healthui->setState(3,getBit(health,9)?(getBit(health,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//ECU
        healthui->setState(5,getBit(health,10)?(getBit(health,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//CCM
        healthui->setState(6,(dlink->mavlinknode->isCommunicationLost)?(HealthUI::state::failure):(HealthUI::state::success));//DLINK

        //   22    23      24     25    26     27
        //  5525D  5803A  5607A  4525D atteck slide
        healthui->setState(7,(getBit(health,26)&getBit(health,27))?(HealthUI::state::success):(HealthUI::state::failure));//AIR

        healthui->setState(8,getBit(health,5)?(getBit(health,11)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//FL

        //dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw
        uint16_t servoHealt = dlink->mavlinknode->vehicle.servo_output_raw.servo10_raw;

        */
        /*
        sbus = feedback (ra)
        sbus = feedback (re)
        sbus = feedback (ru)
        sbus = feedback (la)
        15 sbus = feedback (le)
        health = 0 le la ru re ra //顺序和上面sbus一样
                                   GBIT zero SBIT
                                   */

        //舵机反馈是有符号16b/

        //qDebug() << getBit(health,16);
/*
        healthui->setState(11,getBit(health,16)?(getBit(servoHealt,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LA
        healthui->setState(12,getBit(health,13)?(getBit(servoHealt,0)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RA
        healthui->setState(13,getBit(health,17)?(getBit(servoHealt,4)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LE
        healthui->setState(14,getBit(health,14)?(getBit(servoHealt,1)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RE
        healthui->setState(15,getBit(health,15)?(getBit(servoHealt,2)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//RU


        //19~24
        healthui->setState(21,getBit(health,18)?(HealthUI::state::failure):(HealthUI::state::success));//开伞
        healthui->setState(22,getBit(health,19)?(HealthUI::state::failure):(HealthUI::state::success));//开气囊
        healthui->setState(23,getBit(health,20)?(HealthUI::state::failure):(HealthUI::state::success));//充气
        healthui->setState(24,getBit(health,21)?(HealthUI::state::failure):(HealthUI::state::success));//抛伞
        healthui->setState(25,((dlink->mavlinknode->vehicle.turbinstate.SysState & 0x000F) == 0x04)?(HealthUI::state::failure):(HealthUI::state::inital));//停车

        //healthui->setState(24,((dlink->mavlinknode->vehicle.turbinstate.SysState & 0x000F) == 0x04)?(HealthUI::state::failure):(HealthUI::state::inital));//ENG stop
        //healthui->setState(25,(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible > 7)?(HealthUI::state::success):(HealthUI::state::failure));//GPS
        //healthui->setValueState(25,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible) + tr("颗星"));//GPS

        healthui->setState(30,getBit(health,12)?(HealthUI::state::warning):(HealthUI::state::success));//sel
        healthui->setValueState(30,getBit(health,12)?(tr("连接内置惯导")):(tr("连接SBG")));//sel

    }
    else
    {
        healthui->setState(1,HealthUI::state::failure);
        healthui->setState(2,HealthUI::state::failure);
        healthui->setState(4,HealthUI::state::failure);
        healthui->setState(3,HealthUI::state::failure);
        healthui->setState(5,HealthUI::state::failure);
        healthui->setState(6,HealthUI::state::failure);
        healthui->setState(7,HealthUI::state::failure);
        healthui->setState(8,HealthUI::state::failure);
        healthui->setState(11,HealthUI::state::failure);
        healthui->setState(12,HealthUI::state::failure);
        healthui->setState(13,HealthUI::state::failure);
        healthui->setState(14,HealthUI::state::failure);
        healthui->setState(15,HealthUI::state::failure);
        healthui->setState(21,HealthUI::state::failure);
        healthui->setState(22,HealthUI::state::failure);
        healthui->setState(23,HealthUI::state::failure);
        healthui->setState(24,HealthUI::state::failure);
        healthui->setState(25,HealthUI::state::failure);

        healthui->setState(30,HealthUI::state::failure);
    }



    //===================status ui =============================================

    statusui->setDigitalAtmosphereSystem(1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1),tr(" "));

    statusui->setDigitalAtmosphereSystem(2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1),tr(" "));


    statusui->setState(1,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),
                         QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll,'f',1));

    statusui->setState(2,QString::number(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,'f',1),
                         QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch,'f',1));

    statusui->setState(3,QString::number(to360deg(dlink->mavlinknode->vehicle.gps_raw_int.cog * 0.01),'f',1),
                         QString::number(to360deg(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing),'f',1));

    statusui->setState(4,QString::number(to360deg(dlink->mavlinknode->vehicle.attitude.yaw * 57.3),'f',1),tr(" "));

    statusui->setState(5,QString::number(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error,'f',1),tr(" "));

    statusui->setState(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4,'f',1),tr(" "));

    statusui->setState(7,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),tr(" "));

    statusui->setState(8,QString::number(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3,'f',1),tr(" "));


    statusui->setServo(1,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0,'f',2));
    statusui->setServo(2,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw)/32767.0 * 35.0,'f',2));
    statusui->setServo(3,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 35.0,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw)/32767.0 * 35.0,'f',2));
    statusui->setServo(4,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw)/32767.0 * 35.0,'f',2));
    statusui->setServo(5,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw)/32767.0 * 35.0,'f',2));



    statusui->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0));
    statusui->setEngine(2,QString::number(dlink->mavlinknode->vehicle.turbinstate.RPM_mea,'f',1));
    statusui->setEngine(3,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[0] * 0.1,'f',1));
    statusui->setEngine(4,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[1] * 0.1,'f',1));
    statusui->setEngine(5,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[3],'f',1));//剩余油量
    statusui->setEngine(6,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[2],'f',0));//油压


    statusui->setBattery(1,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_group_voltage_mv * 0.001,'f',1));
    statusui->setBattery(2,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT1_group_current_dA) *0.1f,'f',1));
    statusui->setBattery(3,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc *0.1f,'f',1));

    statusui->setBattery(4,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_group_voltage_mv * 0.001,'f',1));
    statusui->setBattery(5,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT2_group_current_dA) *0.1f,'f',1));
    statusui->setBattery(6,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_remain_perc *0.1f,'f',1));


    statusui->setDlink(1,QString::number(dlink->mavlinknode->rssi,'f',0));
    statusui->setDlink(2,QString::number(dlink->mavlinknode->bitrate));


    statusui->setAttitude1(1,QString::number(dlink->mavlinknode->vehicle.ins1.ax,'f',1));
    statusui->setAttitude1(2,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1));
    statusui->setAttitude1(3,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1));
    statusui->setAttitude1(4,QString::number(dlink->mavlinknode->vehicle.ins1.gx,'f',1));
    statusui->setAttitude1(5,QString::number(dlink->mavlinknode->vehicle.ins1.gy,'f',1));
    statusui->setAttitude1(6,QString::number(dlink->mavlinknode->vehicle.ins1.gz,'f',1));
    statusui->setAttitude1(7,QString::number(dlink->mavlinknode->vehicle.ins1.roll * 57.3,'f',1));
    statusui->setAttitude1(8,QString::number(dlink->mavlinknode->vehicle.ins1.pitch * 57.3,'f',1));
    statusui->setAttitude1(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins1.yaw * 57.3),'f',1));

    statusui->setAttitude2(1,QString::number(dlink->mavlinknode->vehicle.ins2.ax,'f',1));
    statusui->setAttitude2(2,QString::number(dlink->mavlinknode->vehicle.ins2.ay,'f',1));
    statusui->setAttitude2(3,QString::number(dlink->mavlinknode->vehicle.ins2.az,'f',1));
    statusui->setAttitude2(4,QString::number(dlink->mavlinknode->vehicle.ins2.gx,'f',1));
    statusui->setAttitude2(5,QString::number(dlink->mavlinknode->vehicle.ins2.gy,'f',1));
    statusui->setAttitude2(6,QString::number(dlink->mavlinknode->vehicle.ins2.gz,'f',1));
    statusui->setAttitude2(7,QString::number(dlink->mavlinknode->vehicle.ins2.roll * 57.3,'f',1));
    statusui->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
    statusui->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));

    statusui->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
    statusui->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
    statusui->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
    statusui->setGPS1(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins1.v_north,2) +
                                             pow(dlink->mavlinknode->vehicle.ins1.v_east,2) +
                                             pow(dlink->mavlinknode->vehicle.ins1.v_up,2)),'f',1));
    statusui->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
                                              dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
    statusui->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));

    QString gpsFix1;
    switch (dlink->mavlinknode->vehicle.ins1.gps_status) {
    case 0:
    case 1:
        gpsFix1.append(tr("GPS Unlocated"));
        break;
    case 2:
    case 3:
        gpsFix1.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins1.gps_status));
        break;
    case 4:
        gpsFix1.append(tr("fixed"));
        break;
    case 5:
        gpsFix1.append(tr("float"));
        break;
    default:
        break;
    }

    statusui->setGPS1(7,gpsFix1);




    statusui->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
    statusui->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
    statusui->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
    statusui->setGPS2(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins2.v_north,2) +
                                             pow(dlink->mavlinknode->vehicle.ins2.v_east,2) +
                                             pow(dlink->mavlinknode->vehicle.ins2.v_up,2)),'f',1));
    statusui->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
                                              dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
    statusui->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));

    QString gpsFix2;
    switch (dlink->mavlinknode->vehicle.ins2.gps_status) {
    case 0:
    case 1:
        gpsFix2.append(tr("GPS Unlocated"));
        break;
    case 2:
    case 3:
        gpsFix2.append(tr("%1D").arg(dlink->mavlinknode->vehicle.ins2.gps_status));
        break;
    case 4:
        gpsFix2.append(tr("fixed"));
        break;
    case 5:
        gpsFix2.append(tr("float"));
        break;
    default:
        break;
    }

    statusui->setGPS2(7,gpsFix2);



    //===================diagram ui =============================================

    toolsui->diagram->setDigitalAtmosphereSystem(1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1),tr(" "));

    toolsui->diagram->setDigitalAtmosphereSystem(2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1),tr(" "));


    toolsui->diagram->setState(1,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),
                         QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll,'f',1));

    toolsui->diagram->setState(2,QString::number(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,'f',1),
                         QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_pitch,'f',1));

    toolsui->diagram->setState(3,QString::number(to360deg(dlink->mavlinknode->vehicle.global_position_int.hdg),'f',1),
                         QString::number(to360deg(dlink->mavlinknode->vehicle.nav_controller_output.nav_bearing),'f',1));

    toolsui->diagram->setState(4,QString::number(to360deg(dlink->mavlinknode->vehicle.attitude.yaw * 57.3),'f',1),tr(" "));

    toolsui->diagram->setState(5,QString::number(dlink->mavlinknode->vehicle.nav_controller_output.xtrack_error,'f',1),tr(" "));

    toolsui->diagram->setState(6,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-4,'f',1),tr(" "));

    toolsui->diagram->setState(7,QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',1),tr(" "));

    toolsui->diagram->setState(8,QString::number(-dlink->mavlinknode->vehicle.global_position_int.vz * 10e-3,'f',1),tr(" "));


    toolsui->diagram->setServo(1,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw)/32767.0 * 35.0,'f',2));
    toolsui->diagram->setServo(2,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw)/32767.0 * 35.0,'f',2));
    toolsui->diagram->setServo(3,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 35.0,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw)/32767.0 * 35.0,'f',2));
    toolsui->diagram->setServo(4,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw)/32767.0 * 35.0,'f',2));
    toolsui->diagram->setServo(5,QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 35.0,'f',2),
                         QString::number(((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw)/32767.0 * 35.0,'f',2));



    toolsui->diagram->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0));
    toolsui->diagram->setEngine(2,QString::number(dlink->mavlinknode->vehicle.turbinstate.RPM_mea,'f',1));
    toolsui->diagram->setEngine(3,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[0] * 0.1,'f',1));
    toolsui->diagram->setEngine(4,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[1] * 0.1,'f',1));
    toolsui->diagram->setEngine(5,QString::number(dlink->mavlinknode->vehicle.ccmstate.fuel_level,'f',1));
    toolsui->diagram->setEngine(6,QString::number(dlink->mavlinknode->vehicle.ccmstate.temp[2],'f',0));


    toolsui->diagram->setBattery(1,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_group_voltage_mv * 0.001,'f',1));
    toolsui->diagram->setBattery(2,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT1_group_current_dA) *0.1f,'f',1));
    toolsui->diagram->setBattery(3,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT1_remain_perc *0.1f,'f',1));

    toolsui->diagram->setBattery(4,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_group_voltage_mv * 0.001,'f',1));
    toolsui->diagram->setBattery(5,QString::number((float)((int16_t)dlink->mavlinknode->vehicle.bmustate.BAT2_group_current_dA) *0.1f,'f',1));
    toolsui->diagram->setBattery(6,QString::number(dlink->mavlinknode->vehicle.bmustate.BAT2_remain_perc *0.1f,'f',1));


    toolsui->diagram->setDlink(1,QString::number(dlink->mavlinknode->rssi,'f',0));
    toolsui->diagram->setDlink(2,QString::number(dlink->mavlinknode->bitrate));


    toolsui->diagram->setAttitude1(1,QString::number(dlink->mavlinknode->vehicle.ins1.ax,'f',1));
    toolsui->diagram->setAttitude1(2,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1));
    toolsui->diagram->setAttitude1(3,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1));
    toolsui->diagram->setAttitude1(4,QString::number(dlink->mavlinknode->vehicle.ins1.gx * 57.3,'f',1));
    toolsui->diagram->setAttitude1(5,QString::number(dlink->mavlinknode->vehicle.ins1.gy * 57.3,'f',1));
    toolsui->diagram->setAttitude1(6,QString::number(dlink->mavlinknode->vehicle.ins1.gz * 57.3,'f',1));
    toolsui->diagram->setAttitude1(7,QString::number(dlink->mavlinknode->vehicle.ins1.roll * 57.3,'f',1));
    toolsui->diagram->setAttitude1(8,QString::number(dlink->mavlinknode->vehicle.ins1.pitch * 57.3,'f',1));
    toolsui->diagram->setAttitude1(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins1.yaw * 57.3),'f',1));

    toolsui->diagram->setAttitude2(1,QString::number(dlink->mavlinknode->vehicle.ins2.ax,'f',1));
    toolsui->diagram->setAttitude2(2,QString::number(dlink->mavlinknode->vehicle.ins2.ay,'f',1));
    toolsui->diagram->setAttitude2(3,QString::number(dlink->mavlinknode->vehicle.ins2.az,'f',1));
    toolsui->diagram->setAttitude2(4,QString::number(dlink->mavlinknode->vehicle.ins2.gx * 57.3,'f',1));
    toolsui->diagram->setAttitude2(5,QString::number(dlink->mavlinknode->vehicle.ins2.gy * 57.3,'f',1));
    toolsui->diagram->setAttitude2(6,QString::number(dlink->mavlinknode->vehicle.ins2.gz * 57.3,'f',1));
    toolsui->diagram->setAttitude2(7,QString::number(dlink->mavlinknode->vehicle.ins2.roll * 57.3,'f',1));
    toolsui->diagram->setAttitude2(8,QString::number(dlink->mavlinknode->vehicle.ins2.pitch * 57.3,'f',1));
    toolsui->diagram->setAttitude2(9,QString::number(to360deg(dlink->mavlinknode->vehicle.ins2.yaw * 57.3),'f',1));

    toolsui->diagram->setGPS1(1,QString::number(dlink->mavlinknode->vehicle.ins1.lat,'f',8));
    toolsui->diagram->setGPS1(2,QString::number(dlink->mavlinknode->vehicle.ins1.lon,'f',8));
    toolsui->diagram->setGPS1(3,QString::number(dlink->mavlinknode->vehicle.ins1.alt,'f',1));
    toolsui->diagram->setGPS1(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins1.v_north,2) +
                                             pow(dlink->mavlinknode->vehicle.ins1.v_east,2) +
                                             pow(dlink->mavlinknode->vehicle.ins1.v_up,2)),'f',1));
    toolsui->diagram->setGPS1(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins1.v_east,
                                              dlink->mavlinknode->vehicle.ins1.v_north),'f',1));
    toolsui->diagram->setGPS1(6,QString::number(dlink->mavlinknode->vehicle.ins1.satellites_visible,'f',0));
    toolsui->diagram->setGPS1(7,gpsFix1);

    toolsui->diagram->setGPS2(1,QString::number(dlink->mavlinknode->vehicle.ins2.lat,'f',8));
    toolsui->diagram->setGPS2(2,QString::number(dlink->mavlinknode->vehicle.ins2.lon,'f',8));
    toolsui->diagram->setGPS2(3,QString::number(dlink->mavlinknode->vehicle.ins2.alt,'f',1));
    toolsui->diagram->setGPS2(4,QString::number(sqrt(pow(dlink->mavlinknode->vehicle.ins2.v_north,2) +
                                             pow(dlink->mavlinknode->vehicle.ins2.v_east,2) +
                                             pow(dlink->mavlinknode->vehicle.ins2.v_up,2)),'f',1));
    toolsui->diagram->setGPS2(5,QString::number(atan2(dlink->mavlinknode->vehicle.ins2.v_east,
                                              dlink->mavlinknode->vehicle.ins2.v_north),'f',1));
    toolsui->diagram->setGPS2(6,QString::number(dlink->mavlinknode->vehicle.ins2.satellites_visible,'f',0));
    toolsui->diagram->setGPS2(7,gpsFix2);


*/



}




void MainWindow::TotalDistance(double value)
{

    if(MainIndex == 2)//任务界面
    {
        QString message;

        message.append(tr("<h6>总航程：<font color=red>%1</font>米\t</h6>").arg(value));
        message.append(tr("<h6>最远距离：<font color=red>%1</font>米\t</h6>").arg(0));
        message.append(tr("<h6>预计飞行时间：<font color=red>%1</font>小时\t</h6>").arg(0));

        showMessage(message);

    }

}