chenzhen
222dda1e43
2，新增“Apps”； 3，新增“Common”； 4，新增“FileList”； 5，新增“MediaX”； 6，新增“OpenSource”； 7，新增“Samples”； 8，新增“SoftwareBusinessLines”.
1252 lines
31 KiB
C++
1252 lines
31 KiB
C++
#ifndef FLYCONTROLINFO_H
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#define FLYCONTROLINFO_H
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#include <QObject>
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#include <QVariant>
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#include <QVariantMap>
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#include <QVariantList>
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#include <QVariantHash>
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#include <QPointF>
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#include "GDUModule/glink/glink_m/glink_m.h"
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#include "GDUModule/glink/glink_np/glink_np.h"
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class FlyControlInfo : public QObject
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{
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Q_OBJECT
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public:
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explicit FlyControlInfo(QObject *parent = nullptr);
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//**************第1包数据**************
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/*<
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bit0~6飞行状态
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0：NULL
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1：初始化中(不允许解锁，未解锁，未起飞)
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2：初始化完成(允许解锁，未解锁，未起飞)
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3：地面(已解锁，未起飞)
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4：悬停中（已起飞）
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5：手动飞行中（已起飞）
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6：自主起飞中（已起飞）
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7：自主降落中（已起飞）
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8：自主返航中（已起飞）
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9：自主环绕中（已起飞）
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10：指点飞行中（已起飞）
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*/
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Q_PROPERTY(uchar fly_state READ fly_state NOTIFY basicStateNoti)
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uchar fly_state(){
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return state1->SLfly_status & 0b01111111;
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}
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/*
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bit7模拟飞行标志
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0：真实飞行
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1：模拟飞行
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*/
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Q_PROPERTY(uchar sim_fly_state READ sim_fly_state NOTIFY basicStateNoti)
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uchar sim_fly_state(){
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return state1->SLfly_status & 0b10000000;
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}
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/*
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0:未解锁
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1:遥杆解锁
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2:指令解锁
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3: 遥控器拉油门着陆上锁
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4: SDK向下控速着陆上锁
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5:地面机身翻转上锁
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6: 空中机身翻转上锁
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7:指令上锁
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8:自主降落着陆上锁
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9:地面遥控器失联上锁
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*/
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Q_PROPERTY(uchar unlock_reason READ unlock_reason NOTIFY basicStateNoti)
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uchar unlock_reason(){
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return state1->armOrDisarm;
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}
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/*< 数据,赋值操作,操控模式属性: 0: 极限模式1: 姿态模式2: 位置-标准操控3: 位置-运动操控 4: 视觉模式*/
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Q_PROPERTY(uchar control_mode READ control_mode NOTIFY basicStateNoti)
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uchar control_mode(){
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return state1->controlMode;
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}
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/*
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byte-byte6 uint32 GPS时间（UTC）
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bit0~5（共6位）年份后两位
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（例：21表示2021年）
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bit6~9（共4位）月
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bit10~14（共5位）日
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bit15~19（共5位）时
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bit20~25（共6位）分
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bit26~31（共6位）秒
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（总例：0x7DF7BDFF表示2063年7月15日15时31分31秒）
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*/
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typedef struct {
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unsigned short year : 6;
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unsigned short month : 4;
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unsigned short day : 5;
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unsigned short hour : 5;
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unsigned short minute : 6;
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unsigned short second : 6;
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}GPS_TIME_t;
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GPS_TIME_t p_gps_time_t = {0,0,0,0,0,0};
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Q_PROPERTY(QString gsp_time READ gsp_time NOTIFY basicStateNoti)
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QString gsp_time(){
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p_gps_time_t.year = (state1->GPStime & 0b00000000000000000000000000111111);
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p_gps_time_t.month = (state1->GPStime & 0b00000000000000000000001111000000) >> 6;
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p_gps_time_t.day = (state1->GPStime & 0b00000000000000000111110000000000) >> 10;
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p_gps_time_t.hour = (state1->GPStime & 0b00000000000011111000000000000000) >> 15;
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p_gps_time_t.minute = (state1->GPStime & 0b00000011111100000000000000000000) >> 20;
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p_gps_time_t.second = (state1->GPStime & 0b11111100000000000000000000000000) >> 26;
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//memcpy(&p_gps_time_t,&(state1->GPStime),4);
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//return state1->GPStime;
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QString time = ""
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+ QString::number(p_gps_time_t.year)
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+ QString::number(p_gps_time_t.month)
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+ QString::number(p_gps_time_t.day)
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+ " "
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+ QString::number(p_gps_time_t.hour)
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+ ":"
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+ QString::number(p_gps_time_t.minute)
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+ ":"
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+ QString::number(p_gps_time_t.second);
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return time;
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}
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/*< byte7-byte8 当次飞行时间 unsigned short 单位秒钟*/
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Q_PROPERTY(ushort flight_time READ flight_time NOTIFY basicStateNoti)
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ushort flight_time(){
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return state1->flytime;
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}
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/*< byte9-byte10 当前开机时间 unsigned short 单位秒钟*/
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Q_PROPERTY(ushort boot_up READ boot_up NOTIFY basicStateNoti)
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ushort boot_up(){
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return state1->CurrentFlyTime;
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}
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/*< byte11-byte14 总飞行时间unsigned int 单位秒钟*/
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Q_PROPERTY(unsigned int total_time READ total_time NOTIFY basicStateNoti)
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unsigned int total_time(){
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return state1->TotalFlyTime;
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}
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/*
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byte15-byte18
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uint32
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飞控版本号
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十进制数各位含义（从左向右）：
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第1~6位（共6位）：日期
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例：210301表示2021年3月1日。
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第7~9位（共3位）：序号
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值000~999
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第10位（共1位）：版本类型
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值：0测试版；1发布版
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总例：210301001 1表示2021年3月1日发布版第一版
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*/
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Q_PROPERTY(uint fc_Version READ fc_Version NOTIFY basicStateNoti)
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uint fc_Version(){
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return state1->fcVersion;
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}
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/*
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byte19-byte22
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uint32
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卫星天线数量及状态
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bit0~4主天线星数
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bit5~9主天线信号强度
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bit10~14从1天线星数
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（bit30~31位天线数量类型位值为1时该位值无意义）
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bit15~19从1天线信号强度
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（bit30~31位天线数量类型位值为1（单天线版）时该位值无意义）
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bit20~29预留
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（值0无意义）
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bit30~31天线数量类型
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1：单天线版
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2：双天线版
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*/
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/*< 天线 */
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Q_PROPERTY(char p_satellite_type READ p_satellite_type NOTIFY basicStateNoti)
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char p_satellite_type(){
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return (state1->GPSNum & 0xC0000000) >> 30;
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}
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/* 主天线星数*/
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Q_PROPERTY(char p_satellites_number READ p_satellites_number NOTIFY basicStateNoti)
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char p_satellites_number(){
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return state1->GPSNum & 0b00000000000000000000000000011111;
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}
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/*主天线信号强度*/
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Q_PROPERTY(char p_satellites_strength READ p_satellites_strength NOTIFY basicStateNoti)
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char p_satellites_strength(){
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return (state1->GPSNum & 0b00000000000000000000001111100000) >> 5;
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}
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/*从天线星数*/
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Q_PROPERTY(char s_satellites_number READ s_satellites_number NOTIFY basicStateNoti)
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char s_satellites_number(){
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return (state1->GPSNum & 0b00000000000000000111110000000000) >> 10;
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}
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/*从天线信号强度*/
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Q_PROPERTY(char s_satellites_strength READ s_satellites_strength NOTIFY basicStateNoti)
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char s_satellites_strength(){
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return (state1->GPSNum & 0b0000000000001111100000000000000) >> 15;
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}
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/*
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byte23-byte24
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uint16
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RTK状态
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bit0~bit2主天线定位差分状态：
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0：未定位
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1：2D定位
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2：3D定位
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4：RTK float
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5：RTK fixed
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bit3~bit5从1天线定位差分状态
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（9字段bit30~31天线数量类型为1（单天线版）时该位无意义）
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0：未定位
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1：2D定位
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2：3D定位
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4：RTK float
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5：RTK fixed
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bit6~14预留
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0无意义
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bit15抗磁干扰模式，定向功能
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0关闭
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1开启
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*/
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Q_PROPERTY(ushort rtk_state READ rtk_state NOTIFY basicStateNoti)
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ushort rtk_state(){
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return state1->RTKstatus;
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}
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/*<
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byte25-byte26
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int16
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离禁飞区距离 m
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在15KM范围里面进行相应播报。
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在15KM范围以外，表示远离禁飞区，这时，直接固定填入特定值为20KM）。
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负数表示已在禁飞区内。
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*/
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Q_PROPERTY(short no_flyzone_distance READ no_flyzone_distance NOTIFY basicStateNoti)
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short no_flyzone_distance(){
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return state1->flyzoneDistance;
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}
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/*
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byte27
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uint8
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返航状态
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bit0~2返航状态
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0：不在返航
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1：指令返航（返航中）
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2：失联返航（返航中）
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3：累计失联返航（返航中）
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4：低电返航（返航中）
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bit3~5返航状态
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（bit0~2返航状态位值为0该位值无意义）
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1：爬升
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2：预定高度掉头
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3：回航
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4：home点上空掉头
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5：降落
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bit6预留
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0无意义
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bit7：返航点记录状态
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0：返航点未记录或清除
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1：返航点已记录
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*/
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Q_PROPERTY(uchar return_Reason READ return_Reason NOTIFY basicStateNoti)
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uchar return_Reason(){
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return state1->returnStatus & 0b00000111;
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}
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Q_PROPERTY(uchar return_status READ return_status NOTIFY basicStateNoti)
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uchar return_status(){
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return (state1->returnStatus & 0b00111000) >> 3;
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}
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Q_PROPERTY(uchar return_point_status READ return_point_status NOTIFY basicStateNoti)
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uchar return_point_status(){
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return (state1->returnStatus & 0b10000000) >> 7;
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}
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/*
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byte28-byte29
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uint16
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返航高度 dm
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*/
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Q_PROPERTY(ushort return_height READ return_height NOTIFY basicStateNoti)
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ushort return_height(){
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return state1->returnHeight;
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}
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/*<
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* byte30-byte33
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* int32 返航信息3
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* 返航点经度
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* deg
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* 1e7
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*/
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Q_PROPERTY(double return_longitude READ return_longitude NOTIFY basicStateNoti)
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double return_longitude(){
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return state1->returnLong * 1.0 / 10000000.0;
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}
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/*
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byte34 -byte37
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int32
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返航点纬度
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deg
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1e7
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*/
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Q_PROPERTY(double return_latitude READ return_latitude NOTIFY basicStateNoti)
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double return_latitude(){
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return state1->returnLat * 1.0 / 10000000.0;
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}
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|
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/*
|
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byte38
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uint8
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自动降落信息
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降落状态：
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0不在降落
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1指令降落（降落中）
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2失联降落（降落中）
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3低电降落（降落中）
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*/
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Q_PROPERTY(uchar auto_landing READ auto_landing NOTIFY basicStateNoti)
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uchar auto_landing(){
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return state1->autoLanding;
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}
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/*
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byte39-byte40
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uint16
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水平限距距离 m
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注：0xffff表示未开启限距功能
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*/
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Q_PROPERTY(ushort distance_limit READ distance_limit NOTIFY basicStateNoti)
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ushort distance_limit(){
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return state1->levelDistLimit;
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}
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|
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/*
|
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byte41-byte42
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uint16
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限高高度 m
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注：0xffff表示未开启限高功能
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*/
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Q_PROPERTY(ushort height_limit READ height_limit NOTIFY basicStateNoti)
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ushort height_limit(){
|
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return state1->heightLimit;
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}
|
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|
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/*
|
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byte43-byte44
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int16
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|
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航向x100,单位度,两位小数
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*/
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Q_PROPERTY(double heading READ heading NOTIFY basicStateNoti)
|
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double heading(){
|
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return state1->headingAngle /100.0;
|
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}
|
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|
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/*
|
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byte45-byte46
|
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|
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int16
|
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当前横滚角度
|
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deg
|
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1e2
|
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滚转x100,单位度,两位小数
|
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*/
|
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Q_PROPERTY(double roll READ roll NOTIFY basicStateNoti)
|
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double roll(){
|
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return state1->rollAngle /100.0;
|
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}
|
||
|
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/*
|
||
byte47-byte48
|
||
int16
|
||
|
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当前俯仰角度
|
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deg
|
||
1e2
|
||
俯仰x100,单位度,两位小数
|
||
*/
|
||
Q_PROPERTY(double pitch READ pitch NOTIFY basicStateNoti)
|
||
double pitch(){
|
||
return state1->pitchAngle /100.0;
|
||
}
|
||
|
||
/*
|
||
byte49-byte50
|
||
int16
|
||
|
||
北向速度 cm/s
|
||
*/
|
||
Q_PROPERTY(short speed_north READ speed_north NOTIFY basicStateNoti)
|
||
short speed_north(){
|
||
return state1->northSpeed;
|
||
}
|
||
|
||
/*
|
||
byte51-byte52
|
||
int16
|
||
|
||
东向速度,单位cm/s
|
||
*/
|
||
Q_PROPERTY(short speed_east READ speed_east NOTIFY basicStateNoti)
|
||
short speed_east(){
|
||
return state1->eastSpeed;
|
||
}
|
||
|
||
/*
|
||
byte53-byte54
|
||
int16
|
||
|
||
机头速度,单位cm/s
|
||
*/
|
||
Q_PROPERTY(short speed_heading READ speed_heading NOTIFY basicStateNoti)
|
||
short speed_heading (){
|
||
return state1->headSpeed;
|
||
}
|
||
|
||
|
||
/*
|
||
byte55-byte56
|
||
int16
|
||
右向速度,单位cm/s
|
||
*/
|
||
Q_PROPERTY(short speed_right READ speed_right NOTIFY basicStateNoti)
|
||
short speed_right(){
|
||
return state1->rightSpeed;
|
||
}
|
||
|
||
|
||
/*
|
||
byte57-byte58
|
||
int16
|
||
垂直速度 cm/s
|
||
向上为正
|
||
*/
|
||
Q_PROPERTY(short speed_vetical READ speed_vetical NOTIFY basicStateNoti)
|
||
short speed_vetical(){
|
||
return state1->verticalSpeed;
|
||
}
|
||
|
||
|
||
|
||
/*
|
||
byte59-byte62
|
||
int32
|
||
|
||
飞机当前位置
|
||
经度 deg 1e7
|
||
飞行当前点经度 degrees * 10^7
|
||
*/
|
||
Q_PROPERTY(double current_longitude READ current_longitude NOTIFY basicStateNoti)
|
||
double current_longitude(){
|
||
return state1->PositionLong * 1.0 / 10000000.0;
|
||
}
|
||
|
||
/*
|
||
byte63-byte66
|
||
int32
|
||
|
||
飞机当前位置
|
||
纬度 deg 1e7
|
||
飞行当前点纬度 degrees * 10^7
|
||
*/
|
||
Q_PROPERTY(double current_latitude READ current_latitude NOTIFY basicStateNoti)
|
||
double current_latitude(){
|
||
return state1->PositionLat * 1.0 / 10000000.0;
|
||
}
|
||
|
||
/*
|
||
byte67-byte70
|
||
uint32
|
||
|
||
水平距离
|
||
离起飞点距离
|
||
单位米
|
||
*/
|
||
Q_PROPERTY(uint level_distance READ level_distance NOTIFY basicStateNoti)
|
||
uint level_distance(){
|
||
return state1->levelDist;
|
||
}
|
||
|
||
|
||
/*
|
||
byte71-byte74
|
||
int32
|
||
|
||
融合高度
|
||
cm
|
||
*/
|
||
Q_PROPERTY(int height READ height NOTIFY basicStateNoti)
|
||
int height(){
|
||
return state1->height;
|
||
}
|
||
|
||
|
||
/*
|
||
byte75-byte78
|
||
int32
|
||
气压高度
|
||
cm
|
||
*/
|
||
Q_PROPERTY(int barometric_height READ barometric_height NOTIFY basicStateNoti)
|
||
int barometric_height(){
|
||
return state1->heightBarometric;
|
||
}
|
||
|
||
/*
|
||
byte79-byte82
|
||
int32
|
||
|
||
GNSS 椭球高度
|
||
单位cm
|
||
*/
|
||
Q_PROPERTY(int height_GNSS READ height_GNSS NOTIFY basicStateNoti)
|
||
int height_GNSS(){
|
||
return state1->heightEllipsoid;
|
||
}
|
||
|
||
/*
|
||
byte83-byte86
|
||
int32
|
||
cm
|
||
GNSS 海拔高度
|
||
*/
|
||
Q_PROPERTY(int altitude_GNSS READ altitude_GNSS NOTIFY basicStateNoti)
|
||
int altitude_GNSS(){
|
||
return state1->Altitude;
|
||
}
|
||
|
||
/*
|
||
byte87-byte88
|
||
uint16
|
||
|
||
近地辅助高度（TOF/超声）
|
||
cm
|
||
*/
|
||
Q_PROPERTY(int height_tof READ height_tof NOTIFY basicStateNoti)
|
||
int height_tof(){
|
||
return state1->TOFheight;
|
||
}
|
||
|
||
/*
|
||
byte89
|
||
uint8
|
||
|
||
bit0~1RCRC异常类型
|
||
1:已连接
|
||
2:连接不稳定
|
||
3:未连接
|
||
|
||
bit2电量值异常标志（1标志生效）
|
||
bit3电压值异常标志（1标志生效）
|
||
bit4~6电池报警
|
||
0：无报警
|
||
1：电量一级报警
|
||
2：电量二级报警
|
||
3：电量三级报警
|
||
4：电池不在线
|
||
bit7电池温度报警标志（1标志生效）
|
||
RC连接状态
|
||
未连接
|
||
连接不稳
|
||
已连接
|
||
*/
|
||
Q_PROPERTY(uchar rc_connect_state READ rc_connect_state NOTIFY basicStateNoti)
|
||
uchar rc_connect_state(){
|
||
return state1->RCabnstatus & 0b00000011;
|
||
}
|
||
|
||
/*电池异常状态 */
|
||
Q_PROPERTY(uchar battery_error READ battery_error NOTIFY basicStateNoti)
|
||
uchar battery_error(){
|
||
return (state1->RCabnstatus & 0b11111100) >> 2;
|
||
}
|
||
|
||
/*
|
||
|
||
byte90 uint8
|
||
|
||
IMU异常状态
|
||
bit0~1异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
bit2震动标志（1标志生效）
|
||
bit3晃动标志（1标志生效）
|
||
bit4未校准标志（1标志生效）
|
||
bit5~7传感器编号
|
||
*/
|
||
Q_PROPERTY(uchar imu_error READ imu_error NOTIFY basicStateNoti)
|
||
uchar imu_error(){
|
||
return state1->IMUsabntatus;
|
||
}
|
||
|
||
/*
|
||
byte91-byte92
|
||
|
||
磁、气压计、光流、超声/TOF异常状态
|
||
bit0~1磁异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
3：环境干扰大
|
||
bit2 需校磁标志（1标志生效）
|
||
bit3~4磁传感器编号
|
||
|
||
|
||
bit5~6气压计异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
bit7气压计温度异常标志（1标志生效）
|
||
bit8~9气压计编号
|
||
|
||
|
||
bit10~11光流模块异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
bit12光流置信度低标志（1标志生效）
|
||
|
||
|
||
bit13~14超声/TOF异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
|
||
|
||
bit15预留 0无意义
|
||
|
||
磁力计异常状态
|
||
*/
|
||
//https://docs.microsoft.com/en-us/cpp/cpp/cpp-bit-fields?view=msvc-160
|
||
//https://en.cppreference.com/w/cpp/language/bit_field
|
||
|
||
typedef struct {
|
||
/* byte 0 */
|
||
unsigned short magWarngingType : 2;/* bit: 0~1 */
|
||
unsigned short needCalibrationFlag : 1;/* bit:2 */
|
||
unsigned short magNubmer : 2;/* bit: 3~4 */
|
||
unsigned short barometerWarningType : 2;/* bit: 5~6 */
|
||
unsigned short barometerTemperatureFlag : 1;/* bit:7 */
|
||
|
||
/* byte 2 */
|
||
unsigned short barometerNumber : 2;/* bit:8~9 */
|
||
unsigned short visionWarngingType : 2;/* bit:10~11 */
|
||
unsigned short visionLowConfidenceFlag : 1;/* bit:12 */
|
||
unsigned short tofWarngingType : 2;/* bit:13~14 */
|
||
unsigned short : 1; /*bit15预留*/
|
||
|
||
}MAGNETOMETER_ERROR_t;
|
||
|
||
MAGNETOMETER_ERROR_t p_magnetometer_error_t = {0,0,0,0,0,0,0,0,0};
|
||
|
||
Q_PROPERTY(int magWarngingType READ magWarngingType NOTIFY basicStateNoti)
|
||
int magWarngingType(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.magWarngingType;
|
||
}
|
||
Q_PROPERTY(bool needCalibrationFlag READ needCalibrationFlag NOTIFY basicStateNoti)
|
||
bool needCalibrationFlag(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.needCalibrationFlag;
|
||
}
|
||
|
||
Q_PROPERTY(int magNubmer READ magNubmer NOTIFY basicStateNoti)
|
||
int magNubmer(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.magNubmer;
|
||
}
|
||
|
||
Q_PROPERTY(int barometerWarngingType READ barometerWarngingType NOTIFY basicStateNoti)
|
||
int barometerWarngingType(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.barometerWarningType;
|
||
}
|
||
|
||
Q_PROPERTY(bool barometerTemperatureFlag READ barometerTemperatureFlag NOTIFY basicStateNoti)
|
||
bool barometerTemperatureFlag(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.barometerTemperatureFlag;
|
||
}
|
||
|
||
Q_PROPERTY(int barometerNumber READ barometerNumber NOTIFY basicStateNoti)
|
||
int barometerNumber(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.barometerNumber;
|
||
}
|
||
|
||
Q_PROPERTY(int visionWarngingType READ visionWarngingType NOTIFY basicStateNoti)
|
||
int visionWarngingType(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.visionWarngingType;
|
||
}
|
||
|
||
Q_PROPERTY(bool visionLowConfidenceFlag READ visionLowConfidenceFlag NOTIFY basicStateNoti)
|
||
bool visionLowConfidenceFlag(){
|
||
memcpy(&p_magnetometer_error_t,&(state1->TOFabnstatus),2);
|
||
return p_magnetometer_error_t.visionLowConfidenceFlag;
|
||
}
|
||
|
||
Q_PROPERTY(int tofWarngingType READ tofWarngingType NOTIFY basicStateNoti)
|
||
int tofWarngingType(){
|
||
memset(&p_magnetometer_error_t, state1->TOFabnstatus,2);
|
||
return p_magnetometer_error_t.tofWarngingType;
|
||
}
|
||
|
||
/*
|
||
byte93
|
||
uint8
|
||
|
||
EEPROM、存储器、GPS模块异常状态
|
||
bit0EEPROM通信异常标志（1标志生效）
|
||
bit1存储器通信异常标志（1标志生效）
|
||
bit2存储器已满标志（1标志生效）
|
||
bit3存储器保护标志（1标志生效）
|
||
bit4~5GPS异常类型
|
||
1：通信异常
|
||
2：数据异常
|
||
bit6~7GPS模块编号
|
||
|
||
*/
|
||
typedef struct {
|
||
/* byte 0 */
|
||
unsigned short EEPROMComFlag : 1;/* bit: 0 */
|
||
unsigned short memoryComFlag : 1;/* bit: 1 */
|
||
unsigned short memoryFullFlag : 1;/* bit: 2 */
|
||
unsigned short memorySafeFlag : 1;/* bit: 3 */
|
||
unsigned short gpsWarningType : 2;/* bit: 4~5 */
|
||
unsigned short gpsNumber : 2;/* bit: 6~7 */
|
||
}MEMORY_STATE_t;
|
||
|
||
MEMORY_STATE_t p_momory_state_t = {0,0,0,0,0,0};
|
||
|
||
Q_PROPERTY(bool EEPROMComFlag READ EEPROMComFlag NOTIFY basicStateNoti)
|
||
bool EEPROMComFlag(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.EEPROMComFlag;
|
||
}
|
||
|
||
Q_PROPERTY(bool memoryComFlag READ memoryComFlag NOTIFY basicStateNoti)
|
||
bool memoryComFlag(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.memoryComFlag;
|
||
}
|
||
|
||
Q_PROPERTY(bool memoryFullFlag READ memoryFullFlag NOTIFY basicStateNoti)
|
||
bool memoryFullFlag(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.memoryFullFlag;
|
||
}
|
||
|
||
Q_PROPERTY(bool memorySafeFlag READ memorySafeFlag NOTIFY basicStateNoti)
|
||
bool memorySafeFlag(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.memorySafeFlag;
|
||
}
|
||
|
||
Q_PROPERTY(int gpsWarningType READ gpsWarningType NOTIFY basicStateNoti)
|
||
int gpsWarningType(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.gpsWarningType;
|
||
}
|
||
|
||
Q_PROPERTY(int gpsNumber READ gpsNumber NOTIFY basicStateNoti)
|
||
int gpsNumber(){
|
||
memcpy(&p_momory_state_t,&(state1->EEPROMabnstatus),1);
|
||
return p_momory_state_t.gpsNumber;
|
||
}
|
||
|
||
/*
|
||
byte94
|
||
uint8
|
||
飞控主控异常状态
|
||
bit0温度异常标志（1标志生效）
|
||
bit1与协处理器通信异常标志（1标志生效）
|
||
bit2~7预留 0无意义
|
||
*/
|
||
typedef struct {
|
||
/* byte 0 */
|
||
unsigned short fcTemperatureWaringFlag : 1;/* bit: 0 */
|
||
unsigned short fcProcesssorComFlag : 1;/* bit: 1 */
|
||
unsigned short : 6;/* bit: 2~7 */
|
||
}FCMAIN_STATE_t;
|
||
|
||
FCMAIN_STATE_t p_fcmain_state_t = {0,0};
|
||
|
||
Q_PROPERTY(bool fcTemperatureWaringFlag READ fcTemperatureWaringFlag NOTIFY basicStateNoti)
|
||
bool fcTemperatureWaringFlag(){
|
||
memcpy(&p_fcmain_state_t,&(state1->FCabnstatus),1);
|
||
return p_fcmain_state_t.fcTemperatureWaringFlag;
|
||
}
|
||
|
||
Q_PROPERTY(bool fcProcesssorComFlag READ fcProcesssorComFlag NOTIFY basicStateNoti)
|
||
bool fcProcesssorComFlag(){
|
||
memcpy(&p_fcmain_state_t,&(state1->FCabnstatus),1);
|
||
return p_fcmain_state_t.fcProcesssorComFlag;
|
||
}
|
||
|
||
|
||
/*
|
||
byte0 uint8 SDK控制使能(RC以外的控制接入) （1标志生效）
|
||
bit0：SDK使能
|
||
bit 1：航向角度控制
|
||
bit 2：航向速度控制
|
||
bit 3：水平速度控制
|
||
bit 4：水平位置控制
|
||
bit 5：高度控制
|
||
bit 6：高度速度控制
|
||
*/
|
||
Q_PROPERTY(uchar sdk_control READ sdk_control NOTIFY basicStateNoti)
|
||
uchar sdk_control(){
|
||
return {state2->SDKswitch};
|
||
}
|
||
|
||
|
||
/*
|
||
byte1
|
||
uint8
|
||
|
||
遥杆屏蔽状态（1标志生效）
|
||
Bit0: 前进杆屏蔽状态
|
||
Bit1: 后退杆屏蔽状态
|
||
Bit2: 向左杆屏蔽状态
|
||
Bit3: 向右杆屏蔽状态
|
||
Bit4: 向上杆屏蔽状态
|
||
Bit5: 向下杆屏蔽状态
|
||
Bit6: 右旋杆屏蔽状态
|
||
*/
|
||
Q_PROPERTY(uchar rc_shield READ rc_shield NOTIFY basicStateNoti)
|
||
uchar rc_shield(){
|
||
return {state2->RCshield};
|
||
}
|
||
|
||
/*
|
||
byte2 uint8
|
||
|
||
飞控任务、功能
|
||
bit0~3任务
|
||
0:NONE_TASK
|
||
1:IDLE_TASK
|
||
2:MANUALPILOT_TASK
|
||
3:RTL_TASK
|
||
4:AUTO_TAKEOFF_TASK
|
||
5:AUTO_LAND_TASK
|
||
6:GNSS_SURROUND_TASK
|
||
7:TRAJECTOR_PLAN_TASK
|
||
|
||
bit4~7功能
|
||
1:idle
|
||
2:standby
|
||
3:guide
|
||
4:takeoff
|
||
5:land
|
||
6:circle
|
||
7:NONE_FUNC
|
||
|
||
*/
|
||
|
||
typedef struct {
|
||
/* byte 0 */
|
||
unsigned short fcTask : 4;/* bit: 0~3 */
|
||
unsigned short fcFunc : 4;/* bit: 4~7 */
|
||
}FCTASKFUNC_t;
|
||
|
||
FCTASKFUNC_t p_fcTaskFunc_t = {0,0};
|
||
|
||
//zxtested
|
||
Q_PROPERTY(int task READ task NOTIFY basicStateNoti)
|
||
int task(){
|
||
memcpy(&p_fcTaskFunc_t,&(state2->fcTask),1);
|
||
return p_fcTaskFunc_t.fcTask;
|
||
}
|
||
|
||
//zxtested
|
||
Q_PROPERTY(int funcProper READ funcProper NOTIFY basicStateNoti)
|
||
int funcProper(){
|
||
memcpy(&p_fcTaskFunc_t,&(state2->fcTask),1);
|
||
return p_fcTaskFunc_t.fcFunc;
|
||
}
|
||
|
||
|
||
/*
|
||
byte3-byte4
|
||
int16
|
||
油门通道控制量
|
||
zxtested
|
||
*/
|
||
Q_PROPERTY(short throttle READ throttle NOTIFY basicStateNoti)
|
||
short throttle(){
|
||
return state2->throttle;
|
||
}
|
||
|
||
/*
|
||
byte5-byte6
|
||
int16
|
||
航向通道控制量
|
||
zxtested
|
||
*/
|
||
Q_PROPERTY(short headingChannel READ headingChannel NOTIFY basicStateNoti)
|
||
short headingChannel(){
|
||
return state2->heading;
|
||
}
|
||
|
||
/*
|
||
byte7-byte8
|
||
int16
|
||
横滚通道控制量
|
||
zxtested
|
||
*/
|
||
Q_PROPERTY(short rollChannel READ rollChannel NOTIFY basicStateNoti)
|
||
short rollChannel(){
|
||
return state2->roll;
|
||
}
|
||
|
||
/*
|
||
byte9-byte10
|
||
int16
|
||
俯仰通道控制量
|
||
zxtested
|
||
*/
|
||
Q_PROPERTY(short pitchChannel READ pitchChannel NOTIFY basicStateNoti)
|
||
short pitchChannel(){
|
||
return state2->pitch;
|
||
}
|
||
|
||
|
||
/*
|
||
byte11-byte14
|
||
uint32
|
||
|
||
电机控制量（减去1000）
|
||
1~3号
|
||
|
||
bit0~9 1号电机
|
||
bit10~19 2号电机
|
||
bit20~29 3号电机
|
||
bit30~31预留 0无意义
|
||
*/
|
||
typedef struct {
|
||
short a : 10;/* bit: 0~9 */
|
||
short b : 10;/* bit: 10~19 */
|
||
short c : 10;/* bit: 20~29 */
|
||
short : 2;/* bit: 30~21 */
|
||
}ELECTRIC_MACHINERY_t;
|
||
|
||
ELECTRIC_MACHINERY_t moter_1to3 = {0,0,0};
|
||
ELECTRIC_MACHINERY_t moter_4to6 = {0,0,0};
|
||
ELECTRIC_MACHINERY_t moter_7to9 = {0,0,0};
|
||
ELECTRIC_MACHINERY_t moter_10to12 = {0,0,0};
|
||
|
||
Q_PROPERTY(short electric_machinery_1 READ electric_machinery_1 NOTIFY basicStateNoti)
|
||
short electric_machinery_1(){
|
||
moter_1to3.a = (state2->moter_1 & 0b00000000000000000000001111111111);
|
||
moter_1to3.b = (state2->moter_1 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_1to3.c = (state2->moter_1 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_1to3.a;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_2 READ electric_machinery_2 NOTIFY basicStateNoti)
|
||
short electric_machinery_2(){
|
||
moter_1to3.a = (state2->moter_1 & 0b00000000000000000000001111111111);
|
||
moter_1to3.b = (state2->moter_1 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_1to3.c = (state2->moter_1 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_1to3.b;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_3 READ electric_machinery_3 NOTIFY basicStateNoti)
|
||
short electric_machinery_3(){
|
||
moter_1to3.a = (state2->moter_1 & 0b00000000000000000000001111111111);
|
||
moter_1to3.b = (state2->moter_1 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_1to3.c = (state2->moter_1 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_1to3.c;
|
||
}
|
||
|
||
|
||
Q_PROPERTY(short electric_machinery_4 READ electric_machinery_4 NOTIFY basicStateNoti)
|
||
short electric_machinery_4(){
|
||
moter_4to6.a = (state2->moter_4 & 0b00000000000000000000001111111111);
|
||
moter_4to6.b = (state2->moter_4 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_4to6.c = (state2->moter_4 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_4to6.a;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_5 READ electric_machinery_5 NOTIFY basicStateNoti)
|
||
short electric_machinery_5(){
|
||
moter_4to6.a = (state2->moter_4 & 0b00000000000000000000001111111111);
|
||
moter_4to6.b = (state2->moter_4 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_4to6.c = (state2->moter_4 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_4to6.b;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_6 READ electric_machinery_6 NOTIFY basicStateNoti)
|
||
short electric_machinery_6(){
|
||
moter_4to6.a = (state2->moter_4 & 0b00000000000000000000001111111111);
|
||
moter_4to6.b = (state2->moter_4 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_4to6.c = (state2->moter_4 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_4to6.c;
|
||
}
|
||
|
||
|
||
Q_PROPERTY(short electric_machinery_7 READ electric_machinery_7 NOTIFY basicStateNoti)
|
||
short electric_machinery_7(){
|
||
moter_7to9.a = (state2->moter_7 & 0b00000000000000000000001111111111);
|
||
moter_7to9.b = (state2->moter_7 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_7to9.c = (state2->moter_7 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_7to9.a;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_8 READ electric_machinery_8 NOTIFY basicStateNoti)
|
||
short electric_machinery_8(){
|
||
moter_7to9.a = (state2->moter_7 & 0b00000000000000000000001111111111);
|
||
moter_7to9.b = (state2->moter_7 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_7to9.c = (state2->moter_7 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_7to9.b;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_9 READ electric_machinery_9 NOTIFY basicStateNoti)
|
||
short electric_machinery_9(){
|
||
moter_7to9.a = (state2->moter_7 & 0b00000000000000000000001111111111);
|
||
moter_7to9.b = (state2->moter_7 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_7to9.c = (state2->moter_7 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_7to9.c;
|
||
}
|
||
|
||
|
||
Q_PROPERTY(short electric_machinery_10 READ electric_machinery_10 NOTIFY basicStateNoti)
|
||
short electric_machinery_10(){
|
||
moter_10to12.a = (state2->moter_10 & 0b00000000000000000000001111111111);
|
||
moter_10to12.b = (state2->moter_10 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_10to12.c = (state2->moter_10 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_10to12.a;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_11 READ electric_machinery_11 NOTIFY basicStateNoti)
|
||
short electric_machinery_11(){
|
||
moter_10to12.a = (state2->moter_10 & 0b00000000000000000000001111111111);
|
||
moter_10to12.b = (state2->moter_10 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_10to12.c = (state2->moter_10 & 0b00111111111100000000000000000000) >> 20;
|
||
return moter_10to12.b;
|
||
}
|
||
|
||
Q_PROPERTY(short electric_machinery_12 READ electric_machinery_12 NOTIFY basicStateNoti)
|
||
short electric_machinery_12(){
|
||
moter_10to12.a = (state2->moter_10 & 0b00000000000000000000001111111111);
|
||
moter_10to12.b = (state2->moter_10 & 0b00000000000011111111110000000000) >> 10;
|
||
moter_10to12.c = (state2->moter_10 & 0b00111111111100000000000000000000) >> 20;;
|
||
return moter_10to12.c;
|
||
}
|
||
|
||
/*
|
||
byte27
|
||
uint8
|
||
振动晃动系数
|
||
|
||
bit0~3
|
||
振动系数
|
||
|
||
bit4~7
|
||
晃动系数
|
||
zxtested
|
||
*/
|
||
Q_PROPERTY(uchar vibrated_number READ vibrated_number NOTIFY basicStateNoti)
|
||
uchar vibrated_number(){
|
||
return (state2->vibrationNum);
|
||
}
|
||
|
||
/*
|
||
byte28-byte31
|
||
int32
|
||
GPS北向速度
|
||
cm/s
|
||
*/
|
||
Q_PROPERTY(short GNSSspeed_N READ GNSSspeed_N NOTIFY basicStateNoti)
|
||
short GNSSspeed_N(){
|
||
return (state2->GPSnorthSpeed);
|
||
}
|
||
|
||
/*
|
||
byte32-byte35
|
||
int32
|
||
GPS东向速度
|
||
cm/s
|
||
*/
|
||
Q_PROPERTY(short GNSSspeed_E READ GNSSspeed_E NOTIFY basicStateNoti)
|
||
short GNSSspeed_E(){
|
||
return (state2->GPSeastSpeed);
|
||
}
|
||
|
||
/*
|
||
byte36-byte39
|
||
int32
|
||
GPS地向速度
|
||
cm/s
|
||
*/
|
||
Q_PROPERTY(short GNSSspeed_D READ GNSSspeed_D NOTIFY basicStateNoti)
|
||
short GNSSspeed_D(){
|
||
return (state2->GPSgroundSpeed);
|
||
}
|
||
|
||
/*
|
||
byte40-byte43
|
||
int32
|
||
目标位置经度
|
||
deg
|
||
1e7
|
||
*/
|
||
Q_PROPERTY(double target_longitude READ target_longitude NOTIFY basicStateNoti)
|
||
double target_longitude(){
|
||
return state2->targetLong * 1.0 / 10000000.0;
|
||
}
|
||
|
||
/*
|
||
byte44-byte47
|
||
int32
|
||
|
||
目标位置纬度
|
||
deg
|
||
1e7
|
||
*/
|
||
Q_PROPERTY(double target_latitude READ target_latitude NOTIFY basicStateNoti)
|
||
double target_latitude(){
|
||
return state2->targetLat * 1.0 / 10000000.0;
|
||
}
|
||
|
||
|
||
/*
|
||
数据,赋值操作,地向速度,单位cm/s
|
||
*/
|
||
Q_PROPERTY(short speed_ground READ speed_ground NOTIFY basicStateNoti)
|
||
short speed_ground(){
|
||
return 0;
|
||
}
|
||
|
||
|
||
/*
|
||
byte48
|
||
uint8
|
||
位置启动、电机状态
|
||
|
||
bit0水平位置控制
|
||
bit1高度位置控制
|
||
bit2~3电机状态
|
||
0：停转
|
||
1：怠速
|
||
2：运行
|
||
3：测试
|
||
zxtested
|
||
*/
|
||
typedef struct {
|
||
unsigned short hControl : 1;/* bit: 0*/
|
||
unsigned short vControl : 1;/* bit: 1*/
|
||
unsigned short moter_state : 2;/* bit: 2~3 */
|
||
unsigned short : 4;
|
||
}MOTER_STATE_t;
|
||
|
||
MOTER_STATE_t p_moter_state_t = {0,0,0};
|
||
|
||
Q_PROPERTY(bool hControl READ hControl NOTIFY basicStateNoti)
|
||
bool hControl(){
|
||
memcpy(&p_moter_state_t,&(state2->moterStatus),1);
|
||
return p_moter_state_t.hControl;
|
||
}
|
||
Q_PROPERTY(bool vControl READ vControl NOTIFY basicStateNoti)
|
||
bool vControl(){
|
||
memcpy(&p_moter_state_t,&(state2->moterStatus),1);
|
||
return p_moter_state_t.vControl;
|
||
}
|
||
|
||
Q_PROPERTY(uchar alternator_state READ alternator_state NOTIFY basicStateNoti)
|
||
uchar alternator_state(){
|
||
memcpy(&p_moter_state_t,&(state2->moterStatus),1);
|
||
return p_moter_state_t.moter_state;
|
||
}
|
||
|
||
|
||
/*
|
||
byte49-byte50
|
||
int16
|
||
|
||
IMU温度
|
||
deg
|
||
*/
|
||
Q_PROPERTY(short imu_temperature READ imu_temperature NOTIFY basicStateNoti)
|
||
short imu_temperature(){
|
||
return (state2->IMU_temp);
|
||
}
|
||
|
||
|
||
|
||
/*
|
||
byte51-byte52
|
||
uint16
|
||
平均转速
|
||
*/
|
||
Q_PROPERTY(short speed READ speed NOTIFY basicStateNoti)
|
||
short speed(){
|
||
return (state2->avgNum);
|
||
}
|
||
|
||
//飞控上报数据1
|
||
glink_m_aircraft_fc_basic_state_1_t *state1 = glink_m_aircraft_fc_basic_state_1_createEmptyInfo();
|
||
//QVariantMap infoMap1;
|
||
glink_m_aircraft_fc_basic_state_2_t *state2 = glink_m_aircraft_fc_basic_state_2_createEmptyInfo();
|
||
//QVariantMap infoMap2;
|
||
|
||
Q_PROPERTY(QPointF droneCoordinate READ droneCoordinate NOTIFY droneCoordinateNoti)
|
||
QPointF droneCoordinate(){
|
||
return QPointF(current_longitude(),current_latitude());
|
||
}
|
||
|
||
void updataBaseState(){
|
||
emit basicStateNoti();
|
||
emit droneCoordinateNoti(droneCoordinate());
|
||
}
|
||
signals:
|
||
void basicStateNoti();
|
||
void droneCoordinateNoti(QPointF point);
|
||
|
||
|
||
public slots:
|
||
|
||
|
||
private:
|
||
|
||
|
||
};
|
||
|
||
#endif // FLYCONTROLINFO_H
|