242 lines
9.0 KiB
C++
242 lines
9.0 KiB
C++
#include "ServoSystem.h"
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#include "ui_ServoSystem.h"
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ServoSystem::ServoSystem(QWidget *parent) :
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QWidget(parent),
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ui(new Ui::ServoSystem)
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{
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ui->setupUi(this);
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m_parent = parent;
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setWindowTitle(tr("ServoSyste"));
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//load qss
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QFile file(":/qss/ServoSystem.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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//========
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setColor(ui->checkBox_onBoard,state::success);
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setColor(ui->checkBox_28v,state::success);
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setColor(ui->checkBox_56v,state::success);
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setColor(ui->checkBox_AirSpeed,state::success);
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setColor(ui->checkBox_500W,state::failure);
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//setColor(ui->label_LE_SBIT,state::failure);
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setCheckState(6,state::failure);
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setCheckState(7,state::failure);
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setCheckState(8,state::failure);
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setCheckState(9,state::failure);
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setCheckState(10,state::failure);
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setCheckState(11,state::failure);
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Config *cfg = new Config();
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QVariant la;
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QVariant ra;
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QVariant le;
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QVariant re;
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QVariant ru;
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cfg->getServoOffset(&la,&ra,&le,&re,&ru);
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m_la = la.toFloat();
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m_ra = ra.toFloat();
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m_le = le.toFloat();
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m_re = re.toFloat();
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m_ru = ru.toFloat();
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}
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ServoSystem::~ServoSystem()
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{
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delete ui;
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}
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void ServoSystem::closeEvent(QCloseEvent *event)
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{
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setFloat();
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event->ignore();
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}
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void ServoSystem::contextMenuEvent(QContextMenuEvent *event)
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{
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/*
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QMenu *menu = new QMenu(this);
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QAction *pAction = new QAction("float",this);
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connect(pAction,SIGNAL(triggered(bool)),
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this,SLOT(setFloat()));
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menu->addAction(pAction);
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menu->move(cursor().pos());
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menu->show();
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*/
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}
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void ServoSystem::setFloat(void)
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{
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if(this->parent())
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{
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this->setParent(nullptr);
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this->show();
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}
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else
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{
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this->setParent(m_parent);
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this->move(0,0);
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this->hide();
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}
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//
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}
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void ServoSystem::setColor(QWidget *w,state s)
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{
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w->setProperty("state",s);
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w->style()->unpolish(w);
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w->style()->polish(w);
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}
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void ServoSystem::setValue(QLabel *w,QString s)
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{
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w->setText(s);
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}
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void ServoSystem::setBUMState(mavlink_bmustate_t *t)
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{
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ui->label_temp_28->setText(QString::number((int16_t)t->BAT1_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT1_hi_temp_degC));
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ui->label_temp_56->setText(QString::number((int16_t)t->BAT2_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT2_hi_temp_degC));
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ui->label_onBoard_28V_Voltage->setText(QString::number(t->BAT1_group_voltage_mv * 0.001,'f',1));
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ui->label_onBoard_28V_Current->setText(QString::number((float)((int16_t)t->BAT1_group_current_dA) *0.1f,'f',1));
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ui->label_onBoard_56V_Voltage->setText(QString::number(t->BAT2_group_voltage_mv * 0.001,'f',1));
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ui->label_onBoard_56V_Current->setText(QString::number((float)((int16_t)t->BAT2_group_current_dA) *0.1f,'f',1));
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ui->label_28V_percent->setText(QString::number((float)(t->BAT1_remain_perc *0.1f),'f',1));
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ui->label_56V_percent->setText(QString::number((float)(t->BAT2_remain_perc *0.1f),'f',1));
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}
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void ServoSystem::setCheckState(uint32_t pos,QVariant value)
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{
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switch (pos) {
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case 1:
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setColor(ui->checkBox_onBoard,(value.toBool())?(state::success):(state::failure));
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break;
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case 2:
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setColor(ui->checkBox_28v,(value.toBool())?(state::success):(state::failure));
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break;
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case 3:
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setColor(ui->checkBox_56v,(value.toBool())?(state::success):(state::failure));
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break;
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case 4:
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setColor(ui->checkBox_AirSpeed,(value.toBool())?(state::success):(state::failure));
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break;
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case 5:
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setColor(ui->checkBox_500W,(value.toBool())?(state::success):(state::failure));
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break;
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case 6:
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setColor(ui->checkBox_5525D,(value.toBool())?(state::success):(state::failure));
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break;
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case 7:
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setColor(ui->checkBox_5803A,(value.toBool())?(state::success):(state::failure));
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break;
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case 8:
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setColor(ui->checkBox_5607A,(value.toBool())?(state::success):(state::failure));
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break;
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case 9:
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setColor(ui->checkBox_4525D,(value.toBool())?(state::success):(state::failure));
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break;
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case 10:
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setColor(ui->checkBox_atteck,(value.toBool())?(state::success):(state::failure));
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break;
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case 11:
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setColor(ui->checkBox_slide,(value.toBool())?(state::success):(state::failure));
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break;
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}
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//qDebug() << pos << value;
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}
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void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
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{
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/*
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statusui->setServo(1,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 - m_la,'f',2),
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QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * 35.0 - m_la,'f',2));
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statusui->setServo(2,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 - m_ra,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * 35.0 - m_ra,'f',2));
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statusui->setServo(3,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 25.0 - m_le,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * 25.0 - m_le,'f',2));
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statusui->setServo(4,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 25.0 - m_re,'f',2),
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QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * 25.0 - m_re,'f',2));
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statusui->setServo(5,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0 - m_ru,'f',2),
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QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * 25.0 - m_ru,'f',2));
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*/
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ui->label_rud_curr->setText( QString::number(-((int16_t)t->servo13_raw)/32767.0 * 25.0 - m_ru,'f',2));
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ui->label_ele_l_curr->setText(QString::number(-((int16_t)t->servo15_raw)/32767.0 * 25.0 - m_le,'f',2));
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ui->label_ele_r_curr->setText(QString::number( ((int16_t)t->servo12_raw)/32767.0 * 25.0 - m_re,'f',2));
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ui->label_ail_l_curr->setText(QString::number( ((int16_t)t->servo14_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2));
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ui->label_ail_r_curr->setText(QString::number(-((int16_t)t->servo11_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2));
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ui->label_rud_cmd->setText( QString::number(-((int16_t)t->servo3_raw)/32767.0 * 25.0 - m_ru,'f',2));//ru
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ui->label_ele_l_cmd->setText(QString::number(-((int16_t)t->servo1_raw)/32767.0 * 25.0 - m_le,'f',2));//le
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ui->label_ele_r_cmd->setText(QString::number( ((int16_t)t->servo2_raw)/32767.0 * 25.0 - m_re,'f',2));//re
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ui->label_ail_l_cmd->setText(QString::number( ((int16_t)t->servo4_raw)/32767.0 * 35.0 / 1.12 - m_la,'f',2));//la
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ui->label_ail_r_cmd->setText(QString::number(-((int16_t)t->servo5_raw)/32767.0 * 35.0 / 1.117 - m_ra,'f',2));//ra
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/*
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sbus = feedback (ra)
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sbus = feedback (re)
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sbus = feedback (ru)
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sbus = feedback (la)
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15 sbus = feedback (le)
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health = 0 ra000 re000 ru000 la000 le000
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GBIT zero SBIT
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*/
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uint16_t health = t->servo16_raw;
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//qDebug() << health;
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setColor(ui->label_LE_SBIT,((health&0x0004) > 0)?(state::success):(state::failure));
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setColor(ui->label_LE_ZERO,((health&0x0002) > 0)?(state::success):(state::failure));
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setColor(ui->label_LE_GBIT,((health&0x0001) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_SBIT,((health&0x0020) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_ZERO,((health&0x0010) > 0)?(state::success):(state::failure));
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setColor(ui->label_LA_GBIT,((health&0x0008) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_SBIT,((health&0x0100) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_ZERO,((health&0x0080) > 0)?(state::success):(state::failure));
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setColor(ui->label_RU_GBIT,((health&0x0040) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_SBIT,((health&0x0800) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_ZERO,((health&0x0400) > 0)?(state::success):(state::failure));
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setColor(ui->label_RE_GBIT,((health&0x0200) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_SBIT,((health&0x4000) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_ZERO,((health&0x2000) > 0)?(state::success):(state::failure));
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setColor(ui->label_RA_GBIT,((health&0x1000) > 0)?(state::success):(state::failure));
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}
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