CodeRepository/SoftwareBusinessLines/OpenSource/QGC/branches/普宙四代坦克无人机地面站协议集成版本/qgroundcontrol/GDUModule/GDUFlightInfo.h

#ifndef GDUFLYATTITUDEINFO_H
#define GDUFLYATTITUDEINFO_H

#include <QObject>
#include "GDUModule/glink/glink_m/glink_m.h"
#include "GDUModule/glink/glink_np/glink_np.h"


enum DroneConnState {
    DroneConn_Sucess,   //Success:连接成功
    DroneConn_None,     //None:是没有连接上
    DroneConn_MoreOne   //MoreOne:多个连接
};

class GDUFlightInfo : public QObject
{
    Q_OBJECT
public:
    explicit GDUFlightInfo(QObject *parent = nullptr);


    DroneConnState drone_connect_state = DroneConn_None;
    /*
     *  偏移地址：byte0 - byte3
     *  格式：uint32
     *  获取无人机姿态的时间戳，单位：ms
    */
    Q_PROPERTY(long attitude_timestamp READ attitude_timestamp NOTIFY attitudeInfoNotify)
    long attitude_timestamp(){
        return attitudeInfo->timestamp;
    }
    /*
     *  偏移地址：byte4 - byte7
     *  格式：float
     *  获取陀螺数据:X轴，单位：deg/s
    */
    Q_PROPERTY(float top_x READ top_x NOTIFY attitudeInfoNotify)
    float top_x(){
        return attitudeInfo->top_x;
    }
    /*
     *  偏移地址：byte8 - byte11
     *  格式：float
     *  获取陀螺数据:Y轴，单位：deg/s
    */
    Q_PROPERTY(float top_y READ top_y NOTIFY attitudeInfoNotify)
    float top_y(){
        return attitudeInfo->top_y;
    }
    /*
     *  偏移地址：byte12 - byte15
     *  格式：float
     *  获取陀螺数据:Z轴，单位：deg/s
    */
    Q_PROPERTY(float top_z READ top_z NOTIFY attitudeInfoNotify)
    float top_z(){
        return attitudeInfo->top_z;
    }
    /*
     *  偏移地址：byte16 - byte19
     *  格式：float
     *  加速度计数据:X轴，单位：deg/s
    */
    Q_PROPERTY(float a_x READ a_x NOTIFY attitudeInfoNotify)
    float a_x(){
        return attitudeInfo->a_x;
    }
    /*
     *  偏移地址：byte20 - byte23
     *  格式：float
     *  加速度计数据:Y轴，单位：m/s2
    */
    Q_PROPERTY(float a_y READ a_y NOTIFY attitudeInfoNotify)
    float a_y(){
        return attitudeInfo->a_y;
    }

    /*
     *  偏移地址：byte24 - byte27
     *  格式：float
     *  加速度计数据:Z轴，单位：m/s2
    */
    Q_PROPERTY(float a_z READ a_z NOTIFY attitudeInfoNotify)
    float a_z(){
        return attitudeInfo->a_z;
    }
    /*
     *  偏移地址：byte28 - byte29
     *  格式：int16
     *  航向角，单位：deg
    */
    Q_PROPERTY(short course READ course NOTIFY attitudeInfoNotify)
    short course(){
         return attitudeInfo->course;
    }
    /*
     *  偏移地址：byte30 - byte31
     *  格式：int16
     *  横滚角，单位：deg
    */
    Q_PROPERTY(short roll READ roll NOTIFY attitudeInfoNotify)
    short roll(){
         return attitudeInfo->roll;
    }
    /*
     *  偏移地址：byte32 - byte33
     *  格式：int16
     *  俯仰角，单位：deg
    */
    Q_PROPERTY(short pitch READ pitch NOTIFY attitudeInfoNotify)
    short pitch(){
         return attitudeInfo->pitch;
    }

    /*
     *  偏移地址：byte0 - byte3
     *  格式：uint32
     *  获取无人机速度的时间戳，单位：ms
    */
    Q_PROPERTY(long speed_timestamp READ speed_timestamp NOTIFY speedInfoNotify)
    long speed_timestamp(){
        return speedInfo->timestamp;
    }
    /*
     *  偏移地址：byte4 - byte5
     *  格式：int16
     *  北向速度，单位：cm/s
    */
    Q_PROPERTY(short northSpeed READ northSpeed NOTIFY speedInfoNotify)
    short northSpeed(){
        return speedInfo->northSpeed;
    }

    /*
     *  偏移地址：byte6 - byte7
     *  格式：int16
     *  东向速度，单位：cm/s
    */
    Q_PROPERTY(short eastSpeed READ eastSpeed NOTIFY speedInfoNotify)
    short eastSpeed(){
        return speedInfo->eastSpeed;
    }
    /*
     *  偏移地址：byte8 - byte9
     *  格式：int16
     *  机头速度，单位：cm/s
    */
    Q_PROPERTY(short headSpeed READ headSpeed NOTIFY speedInfoNotify)
    short headSpeed(){
        return speedInfo->headSpeed;
    }
    /*
     *  偏移地址：byte10 - byte11
     *  格式：int16
     *  右向速度，单位：cm/s
    */
    Q_PROPERTY(short rightSpeed READ rightSpeed NOTIFY speedInfoNotify)
    short rightSpeed(){
        return speedInfo->rightSpeed;
    }
    /*
     *  偏移地址：byte12 - byte13
     *  格式：int16
     *  垂直速度，单位：cm/s
    */
    Q_PROPERTY(short verticalSpeed READ verticalSpeed NOTIFY speedInfoNotify)
    short verticalSpeed(){
        return speedInfo->verticalSpeed;
    }

    //飞机姿态信息
    glink_m_aircraft_fc_attitudeinfo_t *attitudeInfo = glink_m_aircraft_fc_attitudeinfo_createEmptyInfo();

    //飞机速度信息
    glink_m_aircraft_fc_speedinfo_t *speedInfo = glink_m_aircraft_fc_speedinfo_createEmptyInfo();

    //更新姿态信息
    void updateAttitudeInfo(){
        attitudeInfoNotify();
    }

    void updateSpeedInfo(){
        speedInfoNotify();
    }

    void receiveFlyAttitudeInfo(QByteArray frameBytes);

signals:
    void attitudeInfoNotify();
    void speedInfoNotify();

public slots:
};

#endif // GDUFLYATTITUDEINFO_H