MAVLink入门教程09.04：界面控件显示数据

系列索引：MAVLink入门教程索引

目的

本文介绍如何使用添加自定义界面控件显示数据。

界面控件

首先说明一下界面控件是什么。

打开QGC

QGC界面

QGC默认界面下方有个数据显示控件

将鼠标放置在控件上面，点击笔进入编辑状态

下方和右方有+/-符号

点击+，出现新数据显示区域

添加新控件

界面控件就是，由QGC控制显示隐藏位置，使用QGC统一显示接口，使用QGC统一数据通信接口的控件，自己用QML写的界面只能通过修改代码来修改显示效果。

新建文件

进入qgroundcontrol/src/Vehicle目录，创建一个新类PlaneStatusFactGroup.h/cc/json

从名称可以看出，这个类基于FactGroup，用于显示飞机状态

PlaneStatusFactGroup.h

基于标准规则接口添加自定义接口


#pragma once

#include "FactGroup.h"
#include "QGCMAVLink.h"

class TestInfoFactGroup : public FactGroup
{
    Q_OBJECT

public:
    TestInfoFactGroup(QObject* parent = nullptr);

    Q_PROPERTY(Fact* test1       READ test1       CONSTANT)
    Q_PROPERTY(Fact* test2       READ test2       CONSTANT)
    Q_PROPERTY(Fact* test3       READ test3       CONSTANT)
    Q_PROPERTY(Fact* test4       READ test4       CONSTANT)

    Fact* test1 () { return &_test1Fact; }
    Fact* test2 () { return &_test2Fact; }
    Fact* test3 () { return &_test3Fact; }
    Fact* test4 () { return &_test4Fact; }

    // Overrides from FactGroup
    void handleMessage(Vehicle* vehicle,mavlink_message_t& message) override;

    static const char* _test1FactName;
    static const char* _test2FactName;
    static const char* _test3FactName;
    static const char* _test4FactName;

private:
    Fact            _test1Fact;
    Fact            _test2Fact;
    Fact            _test3Fact;
    Fact            _test4Fact;
};

将此文件添加到qgroundcontrol.pro

PlaneStatusFactGroup.cc

同样基于规则添加

#include "TestInfoFactGroup.h"
#include "Vehicle.h"
const char* TestInfoFactGroup::_test1FactName =      "test1";
const char* TestInfoFactGroup::_test2FactName =      "test2";
const char* TestInfoFactGroup::_test3FactName =      "test3";
const char* TestInfoFactGroup::_test4FactName =      "test4";

TestInfoFactGroup::TestInfoFactGroup(QObject* parent)
    : FactGroup(1000, ":/json/Vehicle/TestInfoFact.json", parent)
    , _test1Fact        (0, _test1FactName,         FactMetaData::valueTypeDouble)
    , _test2Fact        (0, _test2FactName,      FactMetaData::valueTypeDouble)
    , _test3Fact        (0, _test3FactName,         FactMetaData::valueTypeDouble)
    , _test4Fact   (0, _test4FactName,    FactMetaData::valueTypeUint32)
{
    _addFact(&_test1Fact,       _test1FactName);
    _addFact(&_test2Fact,       _test2FactName);
    _addFact(&_test3Fact,       _test3FactName);
    _addFact(&_test4Fact,       _test4FactName);
    // Start out as not available "--.--"
    _test1Fact.setRawValue(qQNaN());
    _test2Fact.setRawValue(qQNaN());
    _test3Fact.setRawValue(qQNaN());
    _test4Fact.setRawValue(qQNaN());
}

void TestInfoFactGroup::handleMessage(Vehicle*, mavlink_message_t& message)
{
    if (message.msgid != MAVLINK_MSG_ID_ALTITUDE) {
        return;
    }
    mavlink_altitude_t altitude;
    mavlink_msg_altitude_decode(&message, &altitude);
    test1()->setRawValue(altitude.altitude_relative);
    _setTelemetryAvailable(true);
}

Vehicle.h

同时在Vehicle.h中添加头文件PlaneStatusFactGroup.h

在_terrainProtocolHandler下添加

1	`PlaneStatusFactGroup _planeStatusFactGroup;`

在_joystickEnabledSettingsKey下添加

1	`static const char* _planeStatusFactGroupName;`

在distanceSensors下添加

1	`Q_PROPERTY(FactGroup* planeStatus READ planeStatusFactGroup CONSTANT)`

在terrainFactGroup下添加

1	`FactGroup* planeStatusFactGroup () { return &_planeStatusFactGroup;}`

Vehicle.cc

在合适的位置添加

const char* Vehicle::_planeStatusFactGroupName =        "planeStatus";
...
    , _planeStatusFactGroup         (this) //两处 182 332
...
_addFactGroup(&_planeStatusFactGroup,       _planeStatusFactGroupName);//472行

PlaneStatusFactGroup.json

{
    "version":      1,
    "fileType":  "FactMetaData",
    "QGC.MetaData.Facts":
[
{
    "name":             "test1",          
    "shortDesc": "测试1",
    "type":             "double",
    "decimalPlaces":    2, 
    "units":            "v"  
},
{
    "name":             "test2",
    "shortDesc": "测试2",
    "type":             "double",
    "decimalPlaces":    2,
    "units":            "v"
},
{
    "name":             "test3",
    "shortDesc": "测试3",
    "type":             "double",
    "decimalPlaces":    2,
    "units":            "v"
},
{
    "name":             "test4",
    "shortDesc": "测试4",
    "type":             "uint32"
}
]
}