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M350b版本

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This commit is contained in:
xin
2025-12-24 09:09:03 +08:00
parent 22906dd9fa
commit 72b1b29c10
21 changed files with 999 additions and 203 deletions
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22
Source/MainAcqThread.cpp
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@ -27,7 +27,8 @@ int CMainAcqThread::SetupContext()
{
m_ctrlConfigParser.SetFilePath("/home/data/Settings/MainSettings.ini");
m_ctrlConfigParser.GetParams(m_struMiscCtrls,m_struM300RTKSs,m_struSensorPort);
m_ctrlVehicle.Initialize();
m_ctrlVehicle.SetupEnvironment();
#ifdef ZZ_FLAG_TEST
qDebug() << m_struSensorPort.qstrGasSensorPort;
qDebug() << m_struSensorPort.qstrWindSensorPort;
@ -35,8 +36,8 @@ int CMainAcqThread::SetupContext()
qDebug() << m_struM300RTKSs.qstrM300RTKSettingsFilePath;
qDebug() << m_struM300RTKSs.qstrM300RTKWidgetFilePath;
#endif
m_ctrlVehicle.SetupEnvironment_M300RTK();
// m_ctrlVehicle.SetupEnvironment_M300RTK();
m_ctrlVehicle.SetupEnvironment();
SetupMessagePipe();
return 0;
}
@ -45,9 +46,10 @@ int CMainAcqThread::StartUp()
{
///pump control
system("sudo gpio mode 7 out");
m_ctrlVehicle.StartupPSDK_M300RTK();
system("sudo gpio write 7 0");
// m_ctrlVehicle.StartupPSDK_M300RTK();
m_ctrlVehicle.StartupPSDK_M350RTK();
QString qstrMessage = "Initializing sensors,Please wait...";
emit Signal_UpdateVehicleMessage(qstrMessage);
@ -141,10 +143,10 @@ int CMainAcqThread::FormFixedWindData()
m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y;
m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z;
double dDotProduct = m_fTempFixedWindVecX; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>
double dAngleInRadians = acos(dDotProduct / dVectorLength); // <20><><EFBFBD><EFBFBD><EFBFBD>нǵĻ<EFBFBD><EFBFBD><EFBFBD>ֵ
double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
double dDotProduct = m_fTempFixedWindVecX; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>
double dAngleInRadians = acos(dDotProduct / dVectorLength); // <20><><EFBFBD><EFBFBD>нǵĻ<C7B5><C4BB><EFBFBD>ֵ
double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
m_struUASDataFrame.fFixedWindDirection = angleInDegrees;
m_struUASDataFrame.fFixedWindSpeed = dVectorLength;
@ -198,7 +200,7 @@ int CMainAcqThread::GetData()
m_struUASDataFrame.fWindSpeed = fSpeed;
m_struUASDataFrame.fWindTemperature = fWindTemp;
m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
int CMainAcqThread::OnTimerCapture()