1.添加了EGM96-5的数据集和算法支持，可以正确求解GEOID Offset高度。

2.在同步时间时现在会将起飞点的海拔高度写回到配置文件/home/data/Settings/MainSettings.ini键值为WBACK/HeightOfHomePoint
3.现在的高度回调函数以及获取函数调整为了DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED。

CMakeLists.txt

@@ -32,6 +32,7 @@ include_directories("/usr/include/libusb-1.0/")
 include_directories("/usr/include/")
 
 include_directories("Source")
+include_directories("Source/EGM96")
 include_directories("Source/MainSettings")
 include_directories("Source/M300/PSDK_Qt")
 include_directories("Source/M300/PSDK_Qt/Config")
@@ -43,7 +44,8 @@ include_directories("Source/M300/PSDK_Qt/Widget")
 #file(GLOB_RECURSE MODULE_HAL_SRC PSDK/samples/sample_c++/platform/linux/manifold2/hal/*.c*)
 #file(GLOB_RECURSE MODULE_APP_SRC PSDK/samples/sample_c++/platform/linux/manifold2/application/*.c*)
 
-file(GLOB_RECURSE PROJECT_SRC "Source/M300/PSDK_Qt/*.c*")
+#file(GLOB_RECURSE PROJECT_SRC "Source/M300/PSDK_Qt/*.c*")
+file(GLOB_RECURSE PROJECT_SRC "Source/EGM96/*.c")
 file(GLOB_RECURSE PROJECT_SRC "Source/*.c*")
 #file(GLOB_RECURSE PROJECT_SRC "Source/M300/PSDK_Qt/Widget/Widget_M300RTK.cpp")
 

CMakeSettings.json

@@ -21,7 +21,7 @@
       "buildCommandArgs": "",
       "ctestCommandArgs": "",
       "inheritEnvironments": [ "linux_arm" ],
-      "remoteMachineName": "-276973082;172.16.0.72 (username=root, port=22, authentication=Password)",
+      "remoteMachineName": "-237651717;172.16.0.93 (username=root, port=22, authentication=Password)",
       "remoteCMakeListsRoot": "/home/pi/Project_Grixis/src",
       "remoteBuildRoot": "/home/pi/Project_Grixis/out/build_d/${name}",
       "remoteInstallRoot": "/home/pi/Project_Grixis/out/install/${name}",

Project_Grixis.cpp

@@ -15,6 +15,8 @@
 #include "MainAcqThread.h"
 #include "DataFileManager.h"
 #include "Logger.h"
+#include "EGM96/EGM96.h"
+
 using namespace std;
 
 int main()
@@ -22,7 +24,6 @@ int main()
 	int argc = 0;
 	QCoreApplication Grixis(argc, NULL);
    
-
 	QEventLoop qeLoop;
     QTimer::singleShot(15000, &qeLoop, SLOT(quit()));
 	qeLoop.exec();
@@ -37,6 +38,35 @@ int main()
 
     Grixis.exec();
 
+	//////////////////////////////////////////////////////////////////////////test EGM96
+//  	qDebug() << "entering time:" << QTime::currentTime();
+//  	QTime currentTime;
+//      QTime lastTime;
+//      int elapsed = 0;
+//  
+//  	if (lastTime == QTime())
+//  	{
+//  		lastTime = QTime::currentTime();
+//  	}
+//  	else
+//  	{
+//  		currentTime = QTime::currentTime();
+//  		elapsed = lastTime.msecsTo(currentTime);
+//  		lastTime = QTime::currentTime();
+//  	}
+//  
+//  	qDebug() << "Run.elapsed =" << elapsed << "ms";
+//  
+//      for (int i=0;i<10;i++)
+//      {
+//          
+//         double a = egm96_compute_altitude_offset(32.34116099116942, 87.55318631548599);
+//         qDebug() << a;
+//      }
+//      
+//  
+//  	qDebug() << "leave time:" << QTime::currentTime();
+	//////////////////////////////////////////////////////////////////////////
 	////////////////////////////////////////////////////Gas test
 //      IrisSensor_Gas_P0 m_testgas;
 //      unsigned long ulco2, ulh20;

Source/EGM96/EGM96.c

@@ -0,0 +1,259 @@
+/*
+ * Copyright (c) 2006 D.Ineiev <ineiev@yahoo.co.uk>
+ * Copyright (c) 2020 Emeric Grange <emeric.grange@gmail.com>
+ *
+ * This software is provided 'as-is', without any express or implied warranty.
+ * In no event will the authors be held liable for any damages arising from
+ * the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ * 1. The origin of this software must not be misrepresented; you must not
+ *    claim that you wrote the original software. If you use this software
+ *    in a product, an acknowledgment in the product documentation would be
+ *    appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ *    misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+/*
+ * This program is designed for the calculation of a geoid undulation at a point
+ * whose latitude and longitude is specified.
+ *
+ * This program is designed to be used with the constants of EGM96 and those of
+ * the WGS84(g873) system. The undulation will refer to the WGS84 ellipsoid.
+ *
+ * It's designed to use the potential coefficient model EGM96 and a set of
+ * spherical harmonic coefficients of a correction term.
+ * The correction term is composed of several different components, the primary
+ * one being the conversion of a height anomaly to a geoid undulation.
+ * The principles of this procedure were initially described in the paper:
+ * - use of potential coefficient models for geoid undulation determination using
+ *   a spherical harmonic representation of the height anomaly/geoid undulation
+ *   difference by R.H. Rapp, Journal of Geodesy, 1996.
+ *
+ * This program is a modification of the program described in the following report:
+ * - a fortran program for the computation of gravimetric quantities from high
+ * degree spherical harmonic expansions, Richard H. Rapp, report 334, Department
+ * of Geodetic Science and Surveying, the Ohio State University, Columbus, 1982
+ */
+
+#include "EGM96.h"
+#include "EGM96_data.h"
+
+#include <math.h>
+
+/* ************************************************************************** */
+
+#define _coeffs (65341) //!< Size of correction and harmonic coefficients arrays (361*181)
+#define _nmax   (360)   //!< Maximum degree and orders of harmonic coefficients.
+#define _361    (361)
+
+/* ************************************************************************** */
+
+double hundu(double p[_coeffs+1],
+             double sinml[_361+1], double cosml[_361+1],
+             double gr, double re)
+{
+    // WGS 84 gravitational constant in m³/s² (mass of Earth’s atmosphere included)
+    const double GM = 0.3986004418e15;
+    // WGS 84 datum surface equatorial radius
+    const double ae = 6378137.0;
+
+    double ar = ae/re;
+    double arn = ar;
+    double ac = 0;
+    double a = 0;
+
+    unsigned k = 3;
+    for (unsigned n = 2; n <= _nmax; n++)
+    {
+        arn *= ar;
+        k++;
+        double sum = p[k]*egm96_data[k][2];
+        double sumc = p[k]*egm96_data[k][0];
+
+        for (unsigned m = 1; m <= n; m++)
+        {
+            k++;
+            double tempc = egm96_data[k][0]*cosml[m] + egm96_data[k][1]*sinml[m];
+            double temp  = egm96_data[k][2]*cosml[m] + egm96_data[k][3]*sinml[m];
+            sumc += p[k]*tempc;
+            sum  += p[k]*temp;
+        }
+        ac += sumc;
+        a += sum*arn;
+    }
+    ac += egm96_data[1][0] + (p[2]*egm96_data[2][0]) + (p[3] * (egm96_data[3][0]*cosml[1] + egm96_data[3][1]*sinml[1]));
+
+    // Add haco = ac/100 to convert height anomaly on the ellipsoid to the undulation
+    // Add -0.53m to make undulation refer to the WGS84 ellipsoid
+
+    return ((a * GM) / (gr * re)) + (ac / 100.0) - 0.53;
+}
+
+void dscml(double rlon, double sinml[_361+1], double cosml[_361+1])
+{
+    double a = sin(rlon);
+    double b = cos(rlon);
+
+    sinml[1] = a;
+    cosml[1] = b;
+    sinml[2] = 2*b*a;
+    cosml[2] = 2*b*b - 1;
+
+    for (unsigned m = 3; m <= _nmax; m++)
+    {
+        sinml[m] = 2*b*sinml[m-1] - sinml[m-2];
+        cosml[m] = 2*b*cosml[m-1] - cosml[m-2];
+    }
+}
+
+/*!
+ * \param m: order.
+ * \param theta: Colatitude (radians).
+ * \param rleg: Normalized legendre function.
+ *
+ * This subroutine computes all normalized legendre function in 'rleg'.
+ * The dimensions of array 'rleg' must be at least equal to nmax+1.
+ * All calculations are in double precision.
+ *
+ * Original programmer: Oscar L. Colombo, Dept. of Geodetic Science the Ohio State University, August 1980.
+ * ineiev: I removed the derivatives, for they are never computed here.
+ */
+void legfdn(unsigned m, double theta, double rleg[_361+1])
+{
+    static double drts[1301], dirt[1301], cothet, sithet, rlnn[_361+1];
+    static int ir; // TODO 'ir' must be set to zero before the first call to this sub.
+
+    unsigned nmax1 = _nmax + 1;
+    unsigned nmax2p = (2 * _nmax) + 1;
+    unsigned m1 = m + 1;
+    unsigned m2 = m + 2;
+    unsigned m3 = m + 3;
+    unsigned n, n1, n2;
+
+    if (!ir)
+    {
+        ir = 1;
+        for (n = 1; n <= nmax2p; n++)
+        {
+            drts[n] = sqrt(n);
+            dirt[n] = 1 / drts[n];
+        }
+    }
+
+    cothet = cos(theta);
+    sithet = sin(theta);
+
+    // compute the legendre functions
+    rlnn[1] = 1;
+    rlnn[2] = sithet * drts[3];
+    for (n1 = 3; n1 <= m1; n1++)
+    {
+        n = n1 - 1;
+        n2 = 2 * n;
+        rlnn[n1] = drts[n2 + 1] * dirt[n2] * sithet * rlnn[n];
+    }
+
+    switch (m)
+    {
+        case 1:
+            rleg[2] = rlnn[2];
+            rleg[3] = drts[5] * cothet * rleg[2];
+            break;
+        case 0:
+            rleg[1] = 1;
+            rleg[2] = cothet * drts[3];
+            break;
+    }
+    rleg[m1] = rlnn[m1];
+
+    if (m2 <= nmax1)
+    {
+        rleg[m2] = drts[m1*2 + 1] * cothet * rleg[m1];
+        if (m3 <= nmax1)
+        {
+            for (n1 = m3; n1 <= nmax1; n1++)
+            {
+                n = n1 - 1;
+                if ((!m && n < 2) || (m == 1 && n < 3)) continue;
+                n2 = 2 * n;
+                rleg[n1] = drts[n2+1] * dirt[n+m] * dirt[n-m] * (drts[n2-1] * cothet * rleg[n1-1] - drts[n+m-1] * drts[n-m-1] * dirt[n2-3] * rleg[n1-2]);
+            }
+        }
+    }
+}
+
+/*!
+ * \param lat: Latitude in radians.
+ * \param lon: Longitude in radians.
+ * \param re: Geocentric radius.
+ * \param rlat: Geocentric latitude.
+ * \param gr: Normal gravity (m/sec²).
+ *
+ * This subroutine computes geocentric distance to the point, the geocentric
+ * latitude, and an approximate value of normal gravity at the point based the
+ * constants of the WGS84(g873) system are used.
+ */
+void radgra(double lat, double lon, double *rlat, double *gr, double *re)
+{
+    const double a = 6378137.0;
+    const double e2 = 0.00669437999013;
+    const double geqt = 9.7803253359;
+    const double k = 0.00193185265246;
+    double t1 = sin(lat) * sin(lat);
+    double n = a / sqrt(1.0 - (e2 * t1));
+    double t2 = n * cos(lat);
+    double x = t2 * cos(lon);
+    double y = t2 * sin(lon);
+    double z = (n * (1 - e2)) * sin(lat);
+
+    *re = sqrt((x * x) + (y * y) + (z * z));            // compute the geocentric radius
+    *rlat = atan(z / sqrt((x * x) + (y * y)));          // compute the geocentric latitude
+    *gr = geqt * (1 + (k * t1)) / sqrt(1 - (e2 * t1));  // compute normal gravity (m/sec²)
+}
+
+/*!
+ * \brief Compute the geoid undulation from the EGM96 potential coefficient model, for a given latitude and longitude.
+ * \param lat: Latitude in radians.
+ * \param lon: Longitude in radians.
+ * \return The geoid undulation / altitude offset (in meters).
+ */
+double undulation(double lat, double lon)
+{
+    double p[_coeffs+1], sinml[_361+1], cosml[_361+1], rleg[_361+1];
+
+    double rlat, gr, re;
+    unsigned nmax1 = _nmax + 1;
+
+    // compute the geocentric latitude, geocentric radius, normal gravity
+    radgra(lat, lon, &rlat, &gr, &re);
+    rlat = (M_PI / 2) - rlat;
+
+    for (unsigned j = 1; j <= nmax1; j++)
+    {
+        unsigned m = j - 1;
+        legfdn(m, rlat, rleg);
+        for (unsigned i = j ; i <= nmax1; i++)
+        {
+            p[(((i - 1) * i) / 2) + m + 1] = rleg[i];
+        }
+     }
+     dscml(lon, sinml, cosml);
+
+     return hundu(p, sinml, cosml, gr, re);
+}
+
+/* ************************************************************************** */
+
+double egm96_compute_altitude_offset(double lat, double lon)
+{
+    const double rad = (180.0 / M_PI);
+    return undulation(lat/rad, lon/rad);
+}
+
+/* ************************************************************************** */

Source/EGM96/EGM96.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2006 D.Ineiev <ineiev@yahoo.co.uk>
+ * Copyright (c) 2020 Emeric Grange <emeric.grange@gmail.com>
+ *
+ * This software is provided 'as-is', without any express or implied warranty.
+ * In no event will the authors be held liable for any damages arising from
+ * the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ * 1. The origin of this software must not be misrepresented; you must not
+ *    claim that you wrote the original software. If you use this software
+ *    in a product, an acknowledgment in the product documentation would be
+ *    appreciated but is not required.
+ * 2. Altered source versions must be plainly marked as such, and must not be
+ *    misrepresented as being the original software.
+ * 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef EGM96_H
+#define EGM96_H
+/* ************************************************************************** */
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*!
+ * \brief Compute the geoid undulation from the EGM96 potential coefficient model, for a given latitude and longitude.
+ * \param latitude: Latitude (in degrees).
+ * \param longitude: Longitude (in degrees).
+ * \return The geoid undulation / altitude offset (in meters).
+ */
+double egm96_compute_altitude_offset(double latitude, double longitude);
+#ifdef __cplusplus
+}
+#endif
+/* ************************************************************************** */
+#endif // EGM96_H

Source/M300/PSDK_Qt/Main/VehicleController.cpp

@@ -31,6 +31,7 @@ VehicleController::VehicleController(QObject* parent /*= nullptr*/)
     m_iFlagIsVehicleCapturing = 0;
     m_iFlagIsCaptureModeInited = 0;
 
+    m_fHeightOfHomePoint = -1;
     //m_cCaptureMode = 0;
     
 }
@@ -46,11 +47,11 @@ T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveFlightStatusCall
 
 T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize, const T_DjiDataTimestamp* timestamp)
 {
-    float fHeight = *((T_DjiFcSubscriptionHeightFusion*)data);
+    float fHeight = *((T_DjiFcSubscriptionAltitudeFused*)data);
     //qDebug() <<"[Fused Height]:"<< fHeight;
 
     ///Pump need to be added
-    if (m_siFlagIsPumpWorking==0&& fHeight>10)
+    if (m_siFlagIsPumpWorking==0&& fHeight > 10)
 	{
 		//system("sudo gpio mode 7 out");
         m_siFlagIsPumpWorking = 1;
@@ -319,7 +320,7 @@ int VehicleController::StartupPSDK_M300RTK()
    //osalHandler->TaskSleepMs(5000);
     SetupMessagePipe();
     SetupWaypointStatusCallback();
-    InitSystemDateTime();
+    InitSystemParams();
     SetupSubscriptions();
 
 
@@ -398,11 +399,11 @@ int VehicleController::SetupSubscriptions()
 //         qDebug() << "init data subscription module finished.";
 //     }
 
-    tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback);
+    tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback);
 	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
 
-		qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error.";
+		qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED error.";
 		return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 	}
 
@@ -531,9 +532,11 @@ int VehicleController::SetupWidget()
     return 0;
 }
 
-int VehicleController::InitSystemDateTime()
+int VehicleController::InitSystemParams()
 {
 	T_DjiReturnCode tDjiReturnCode;
+    QString qstrWBackPath("/home/data/Settings/MainSettings.ini");
+
 
     ///Init
 	tDjiReturnCode = DjiFcSubscription_Init();
@@ -547,7 +550,7 @@ int VehicleController::InitSystemDateTime()
 		qDebug() << "InitSystemDateTime finished.";
 	}
 
-    ///SubscribeTopic
+    ///SubscribeTopic GPS_SIGNAL_LEVEL
 	tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
 	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
@@ -556,6 +559,7 @@ int VehicleController::InitSystemDateTime()
 		return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 	}
 
+    ///SubscribeTopic GPS_DATE
 	tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
 	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
@@ -564,6 +568,7 @@ int VehicleController::InitSystemDateTime()
 		return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 	}
 
+    ///SubscribeTopic GPS_TIME
 	tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
 	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
@@ -572,6 +577,15 @@ int VehicleController::InitSystemDateTime()
 		return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 	}
 
+    ///SubscribeTopic ALTITUDE_OF_HOMEPOINT
+	tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
+	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+	{
+
+		qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT error.";
+		return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+	}
+
     ///Make sure Gps avalible
     T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
     bool bStop = false;
@@ -617,6 +631,8 @@ int VehicleController::InitSystemDateTime()
     ///Get GPS Datetime
     T_DjiFcSubscriptionGpsDate tGpsDate = { 0 };
     T_DjiFcSubscriptionGpsTime tGpsTime = { 0 };
+    T_DjiFcSubscriptionAltitudeOfHomePoint tAltOfHP = { 0 };
+
     tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, (uint8_t*)&tGpsDate, sizeof(T_DjiFcSubscriptionGpsDate), &tTimestamp);
 	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
@@ -632,6 +648,18 @@ int VehicleController::InitSystemDateTime()
 		return -2;
 	}
 
+    tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT, (uint8_t*)&tAltOfHP, sizeof(T_DjiFcSubscriptionAltitudeOfHomePoint), &tTimestamp);
+	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+	{
+		qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT.";
+		return -3;
+	}
+    m_fHeightOfHomePoint = tAltOfHP;
+    //////////////////////////////////////////////////////////////////////////write back AOHP
+    QSettings qsMainSettings(qstrWBackPath, QSettings::Format::IniFormat);
+    qsMainSettings.setValue(QString("WBACK/HeightOfHomePoint"), m_fHeightOfHomePoint);
+    //////////////////////////////////////////////////////////////////////////
+
     //qDebug() << "Date" << tGpsDate << "Time" << tGpsTime;
 
     QDateTime qdtDateTime;
@@ -695,6 +723,13 @@ int VehicleController::InitSystemDateTime()
 		return -13;
 	}
 
+	tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT);
+	if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+	{
+		qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT.";
+		return -14;
+	}
+
 	return 0;
 }
 

Source/M300/PSDK_Qt/Main/VehicleController.h

@@ -42,6 +42,7 @@ private:
 	int m_iFlagIsVehicleCapturing;
 	int m_iFlagIsCaptureModeInited;
 
+	float m_fHeightOfHomePoint;
 public:
 	/// test func Do Not Call
 	static T_DjiReturnCode DjiTest_FcSubscriptionReceiveFlightStatusCallback(const uint8_t* ccData, uint16_t sDataSize,const T_DjiDataTimestamp* tDjiTimestamp);
@@ -68,7 +69,7 @@ private:
 	int SetupWidget();
 	///
 public:///for test
-	int InitSystemDateTime();
+	int InitSystemParams();
 	int SetupSubscriptions();
 	///
 public:///for test

Source/MainAcqThread.cpp

@@ -197,7 +197,7 @@ int CMainAcqThread::GetData()
 	m_struUASDataFrame.fWindDirection = fAngle;
 	m_struUASDataFrame.fWindSpeed = fSpeed;
 
-	m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);
+	m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 }
 
 int CMainAcqThread::OnTimerCapture()