QGroundControl（QGC）地面站获取gps信息并保存为按时间自动编号的TXT文件

qgroundcontrol\src\Vehicle\Vehicle.cc

#include "fstream"

void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
{
    mavlink_gps_raw_int_t gpsRawInt;
    mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);

    _gpsRawIntMessageAvailable = true;

    if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
        if (!_globalPositionIntMessageAvailable) {
            QGeoCoordinate newPosition(gpsRawInt.lat  / (double)1E7, gpsRawInt.lon / (double)1E7, gpsRawInt.alt  / 1000.0);
            if (newPosition != _coordinate) {
                _coordinate = newPosition;
                emit coordinateChanged(_coordinate);
            }
            _altitudeAMSLFact.setRawValue(gpsRawInt.alt / 1000.0);
        }
    }

    _gpsFactGroup.lat()->setRawValue(gpsRawInt.lat * 1e-7);
    _gpsFactGroup.lon()->setRawValue(gpsRawInt.lon * 1e-7);
    _gpsFactGroup.mgrs()->setRawValue(convertGeoToMGRS(QGeoCoordinate(gpsRawInt.lat * 1e-7, gpsRawInt.lon * 1e-7)));
    _gpsFactGroup.count()->setRawValue(gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
    _gpsFactGroup.hdop()->setRawValue(gpsRawInt.eph == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.eph / 100.0);
    _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
    _gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0);
    _gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
        QDateTime datetime;
        QString timestr=datetime.currentDateTime().toString("yyyy.MM.dd.HH.mm.ss");
        QString day=datetime.currentDateTime().toString("MM.dd.hh");
        QString fileName = "你的保存路径" + day+ "gpsQGC.txt";
        QFile file(fileName);
        file.open(QIODevice::Append | QIODevice::Text );
        QTextStream in(&file);
        in << timestr;
        in <<" lat:"<<QString::number(double (gpsRawInt.lat* 1e-7),'f',7);
        in <<" lon:"<<QString::number(double(gpsRawInt.lon* 1e-7),'f',7);
        in <<" alt:"<<QString::number(double (gpsRawInt.alt/ 1000.0));
        in <<" count:"<<QString::number(gpsRawInt.satellites_visible);
        in <<" hdop:"<<QString::number(double(gpsRawInt.eph)/100.0);
       // in <<" vdop:"<<QString::number(gpsRawInt.epv);
        in <<" fix_type:"<<gpsRawInt.fix_type;
        in <<endl;
        file.flush();
        file.close();

}

效果如下

内容如下，经纬度已经打码