QGC 地面站中获取电压完整教程（QGC中无法获取APM电压）

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一、演示

老规先演示，看效果：

PX4 中：

数据列表中的 voltage 为电池组中获取的，PX4 中可以获取到

APM 中：

数据列表中的 voltage 为电池组中获取的，APM 中获取不到

二、简介

起因是在 APM 中无法在BATTERY_STATUS 帧中获取电压信息

而在 SYS_STATUS 系统状态中存在电压信息，于是乎想调用 SYS_STATUS 中的 voltage_battery

同样 PX4 中也可这样操作， 你如果不想改地面站，那就改飞控的 BATTERY_STATUS 数据源吧~

三、代码修改

1. 后台数据获取

● Vehicle.cc

//92：定义字段，将通过 "myVoltage" 找到 voltage 的数据
const char* Vehicle::_myVoltageFactName =            "myVoltage";

//149：初始化 _myVoltageFact          
, _myVoltageFact                (0, _myVoltageFactName,         FactMetaData::valueTypeDouble)

//297
, _myVoltageFact                    (0, _myVoltageFactName,         FactMetaData::valueTypeDouble)

//404
_addFact(&_myVoltageFact,            _myVoltageFactName);

//1339 在 _handleSysStatus(mavlink_message_t& message) 函数中获取电压
double voltage = static_cast<double>(sysStatus.voltage_battery)/1000;
_myVoltageFact.setRawValue(voltage);

● 2. Vehicle.h

//293
Q_PROPERTY(Fact* myVoltage          READ myVoltage               CONSTANT)

//609
Fact* myVoltage                        () { return &_myVoltageFact; }

//1217
Fact _myVoltageFact;

//1262
static const char* _myVoltageFactName;

2. json 文件

{
    "name":             "myVoltage",
    "shortDesc":        "Current voltage",
    "type":             "double",
    "decimalPlaces":    2,
    "units":            "v"
}

3. 前台显示

● 在 FlyViewWidgetLayer.qml 最后调用：

VoltageTest {
    anchors.top:                parent.top
    anchors.topMargin:          50
    anchors.horizontalCenter:   parent.horizontalCenter
}

● VoltageTest

可以参考此文 Qt QML 基于画布的扇形的进度条（Canvas）

import QtQuick 2.12
import QGroundControl.Vehicle       1.0
import QGroundControl               1.0
import QGroundControl.ScreenTools 	1.0
import QGroundControl.Controls 		1.0
import QGroundControl.FactSystem    1.0
import QGroundControl.FactControls  1.0

Rectangle {
    id:     valuesRoot
    width:   rowRoot.width + 10
    height:  rowRoot.height + 10
    color:   "black"

    ///----内部使用：
    property var  _activeVehicle:   QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle

    ///---另外个版本获取电压
    property var voltageVal:                 _activeVehicle ? _activeVehicle.voltage0 :  0

    property var voltageMax:   4.2 * 6     //6s
    property var voltageMin:   3.7 * 6     //6s

    ///--只读常量
    readonly property color      _themeColor:                "#00EC00"
    readonly property real       _mar:                       5
    readonly property real       defaultWidgetsWidth:        (ScreenTools.isMobile ? 50*2 : 50)
    readonly property real       defaultWidgetsHeight:       (ScreenTools.isMobile ? 35*2 : 35)
    readonly property real       _pointSize:                 12

    ///--获取模型的颜色
    function getModelColor(fact) {
        //voltage 22.2~25.2
        if(fact > voltageMin +  (voltageMax-voltageMin) * 0.3)          return _themeColor
        if(fact > voltageMin +  (voltageMax-voltageMin) * 0.1)          return "yellow"
        if(fact >= voltageMin + (voltageMax-voltageMin) * 0.0)          return "red"
        return _themeColor
    }

    //电压显示
    Row {
        id:                             rowRoot
        anchors.centerIn:               parent
        spacing:                        5

        property Fact fact:             _activeVehicle.getFact("myVoltage");

        Column {
            spacing:                        0
            anchors.verticalCenter:         parent.verticalCenter
            QGCLabel {
                id:                         sgLabel
                color:                      getModelColor(rowRoot.fact.enumOrValueString)
                horizontalAlignment:        Text.AlignHCenter
                text:                       qsTr("电压")
                font.pointSize:             _pointSize
                font.bold:                  true
            }
            QGCLabel {
                horizontalAlignment:        Text.AlignHCenter
                color:                      sgLabel.color
                text:                       rowRoot.fact.valueEqualsDefault ?  " " : rowRoot.fact.value.toFixed(1)  + rowRoot.fact.units
                font.pointSize:             _pointSize
                font.bold:                  true
            }
        }

        Loader {
            id:                         loaderDash
            anchors.verticalCenter:     parent.verticalCenter
            sourceComponent:            canvasDash
        }
        Component.onCompleted: {
            loaderDash.item._text = "v"
        }
        ///--更新值和颜色
        Timer{
            id:             timer
            interval:       1000
            running:        true
            repeat:         true
            onTriggered: {
                var val = isNaN(rowRoot.fact.enumOrValueString) ? 0.0 : rowRoot.fact.enumOrValueString          //初步判断是否有效
                val = (val<0) ? 0 : val                                                         //初步判断是否为0
                val= (val - voltageMin) / (voltageMax - voltageMin) * 100
                loaderDash.item._value = (val<0) ? 0 : val
                loaderDash.item._color = sgLabel.color
            }
        }
    }

    ///------------------ 动态小仪表 ------------------
    ///电压和油门
    Component {
    id: canvasDash
        Item {
            width:  defaultWidgetsWidth
            height: defaultWidgetsHeight
            anchors.centerIn:   parent

            property real _value                : 0
            property real _angle:               (_value * (180-10) / 100 + (180+10))
            property string _text :             ""
            property color _color:              '#01E9A9'
            property color _backgroundColor:    "white"

            on_ValueChanged: canvas.requestPaint();

            Canvas{ ///画布
                id: canvas
                width:  parent.width       //40
                height: width/2            //20
                anchors.centerIn:           parent

                contextType:  "2d";
                function paintGimbalYaw(ctx,x,y,r,angle1,angle2,color) {
                    ctx.fillStyle = color
                    ctx.save();
                    ctx.beginPath();
                    ctx.moveTo(x,y);
                    ctx.arc(x,y,r,angle1*Math.PI/180,angle2*Math.PI/180);
                    ctx.closePath();
                    ctx.fill()
                    ctx.restore();
                }

                onPaint: {
                    var ctx = getContext("2d");  ///画师
                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2,      180,  360,  _backgroundColor)//'#005840')
                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2,      180,  _angle, _color)
                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2*0.85,  0,    360,  "#142c29")

                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2*0.7, 180,  360,  _backgroundColor) //'#005840')
                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2*0.7, 180,_angle,  _color)
                    paintGimbalYaw(ctx,canvas.width/2, canvas.height, canvas.width/2*0.6, 0,   360,    "#142c29")
                }
                //文字
                QGCLabel {
                    id:                         txt_progress
                    visible:                    _text != ""
                    anchors.bottom:             parent.bottom
                    anchors.bottomMargin:       ScreenTools.isMobile ? -7 : -2
                    anchors.horizontalCenter:   parent.horizontalCenter
                    font.pointSize:             11
                    text:                       _text       //"V"
                    color:                      _color
                    font.bold:                  true
                }
            }
        }
    }
}

如果多个数据，加入Repeater-model 这将是个很好的模型框架

4. APM 中电压校准

就是此处的电压：

//                        property Fact vehicleVoltage:   _batteryFactGroup.voltage
                        property Fact vehicleVoltage:   controller.vehicle.myVoltage

PX4 中没有修改校准，可以自己动手，其实一样

5. 工程文件部分

● qgroundcontrol.qrc

<file alias="QGroundControl/FlightDisplay/VoltageTest.qml">src/FlightDisplay/VoltageTest.qml</file>

● FlightDisplay\qmldir

VoltageTest                     1.0 VoltageTest.qml

四、其它方法介绍（PX4）

在 v4.1 后的版本中，是动态实例化的电池组，咱们也从电池组中快速获取电压，只贴出关键代码：

vehicle.cc

//构造函数中开定时器不断调用 getVoltage0()
    connect(&_upVoltageTimer, &QTimer::timeout, this, &Vehicle::getVoltage0);
   _upVoltageTimer.start(1000);


bool Vehicle::getVoltage0(void)
{
    if(_batteryFactGroupListModel.count() < 1) {
        qDebug() << ("Valtage invalid!!!");
        return false;
    }
    
    QmlObjectListModel* batteriesList = batteries();
    VehicleBatteryFactGroup * groop = batteriesList->value<VehicleBatteryFactGroup*>(0);
    
    _voltage0 = groop->voltage()->enumOrValueString();
    emit voltage0Changed(_voltage0);
    return true;
}

//start_cch_20210714
void Vehicle::setVoltage0(QString voltage0) {
    if(_voltage0 != voltage0) {
        _voltage0 = voltage0;
        emit voltage0Changed(_voltage0);
    }
}

前台调用：

property var voltageVal:                 _activeVehicle ? _activeVehicle.voltage0 :  0