tangchao0503/ximeaAirborneSystem
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优化：

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1. 通过内存池解决丢帧问题；
2. 解析惯导卫星个数，并通过socket发送给psdk；
3. 取消通过sbg卫星时间设置linux系统时间，此功能交给psdk做；
This commit is contained in:
tangchao0503
2022-12-24 16:59:41 +08:00
parent da57cc8e87
commit e96953b54a
9 changed files with 506 additions and 46 deletions
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16
Source_Files/sbgrecorder.cpp
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@ -671,13 +671,11 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
}
else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_GPS1_POS)
{
// std::cout<<"纬度精度为："<<logData.gpsPosData.latitudeAccuracy<<std::endl;
float maximal=0;
float latitudeAccuracy=logData.gpsPosData.latitudeAccuracy;
float longitudeAccuracy=logData.gpsPosData.longitudeAccuracy;
float altitudeAccuracy=logData.gpsPosData.altitudeAccuracy;
int satelliteCounter=(int)logData.gpsPosData.numSvUsed;
if(latitudeAccuracy<longitudeAccuracy)
maximal = longitudeAccuracy;
@ -687,7 +685,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
if(maximal<altitudeAccuracy)
maximal = altitudeAccuracy;
emit sbgAccuracySignal(static_cast<int>(maximal));
// std::cout<<"纬度精度为："<<maximal<<std::endl;
// std::cout<<"numSvUsed："<<satelliteCounter<<std::endl;
emit sbgAccuracySignal(static_cast<int>(maximal), satelliteCounter);
if(maximal<7)
{
@ -710,15 +711,10 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
char setGpsTimeCommand[256];
sprintf(setGpsTimeCommand,"date --set=\"%d%02d%02d %02d:%02d:%02d\"",year,month,day,hour,minute,second);//02中的2代表2位数字，0代表以0补全
system(setGpsTimeCommand);//
// system(setGpsTimeCommand);
m_bIsSyncSystemTimeBaseGpstime=true;
}
else if(receivedMsgClass==SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_EULER)
{
// std::cout<<"1111111111111"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;
// std::cout<<"receivedMsg:"<<(int)receivedMsg<<std::endl;
}
else if(receivedMsgClass!=SBG_ECOM_CLASS_LOG_ECOM_0 && receivedMsg==SBG_ECOM_LOG_EKF_QUAT)
{
//std::cout<<"1111111111111------"<<"UTC time:"<<(int)logData.utcData.year<<","<<(int)logData.utcData.month<<","<<(int)logData.utcData.day<<","<<(int)logData.utcData.hour<<","<<(int)logData.utcData.minute<<","<<(int)(int)logData.utcData.second<<std::endl;