qgc开发-添加控件

最新推荐文章于 2021-04-10 21:56:44 发布

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最新推荐文章于 2021-04-10 21:56:44 发布

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分类专栏： QT开发

本文链接：https://blog.csdn.net/m0_50848587/article/details/115337295

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1、添加矩形框，在FlightDisplayView.qml中，Fly操作栏对应的组件id是toolstrip

        Rectangle{
            anchors.left: toolStrip.left
            anchors.top:  toolStrip.bottom
            anchors.topMargin: _margins * 2
            width: 00
            height: 40
            color: "red"
            radius: 4
            visible: true
            z: _panel.z+4
            Text {
                anchors.fill: parent
                text: qsTr("Request All Parameters")
            }
            MouseArea{
            anchors.fill: parent
            onClicked: {
            console.log("Request all Parameter is clicked!")
                QGroundControl.multiVehicleManager.activeVehicle.requestAllParameters()
            }
            }
        }

2、在Vehicle中添加函数实现
Vehicle.h中函数定义：

Q_INVOKABLE void requestAllParameters(void);

在这里插入图片描述
Vehicle.cc中完成函数实现：

void Vehicle::requestAllParameters()
{
    mavlink_message_t msg;
    mavlink_msg_param_request_list_pack_chan(
                _mavlink->getSystemId(),
                _mavlink->getComponentId(),
                priorityLink()->mavlinkChannel(),
                &msg,_id,MAV_COMP_ID_ALL
                );
    sendMessageOnLink(priorityLink(),msg);
    qDebug()<<"========send Vehicle::requestAllParameters========"<<_id<<MAV_COMP_ID_ALL;
}

在这里插入图片描述
3、mock回路验证：在mocklink.cc中

void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
{
//    if (_failureMode == MockConfiguration::FailParamNoReponseToRequestList) {
//        return;
//    }

//    mavlink_param_request_list_t request;

//    mavlink_msg_param_request_list_decode(&msg, &request);

//    Q_ASSERT(request.target_system == _vehicleSystemId);
//    Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);

//    // Start the worker routine
//    _currentParamRequestListComponentIndex = 0;
//    _currentParamRequestListParamIndex = 0;
    mavlink_param_request_list_t request;
    mavlink_msg_param_request_list_decode(&msg, &request);
    qDebug()<<"message with param request list is received,and message id:"<<msg.msgid<<"target_system:"<<request.target_system<<"target_component"<<request.target_component;
}