void MainWindow::on_button_switch_clicked()
{
if(isStart){
isStart = false;
send_parameter(0, HEAD2_SWITCH_STOP);
}
else{
isStart = true;
send_parameter(0, HEAD2_SWITCH_START);
}
}
//滑动条PID->C回调
void MainWindow::on_hSlider_pid_c_valueChanged(int value)
{
int min = ui->lineEdit_min_c->text().toInt();
int max = ui->lineEdit_max_c->text().toInt();
float c = value/100.0f*(max-min)+min;
QString c_str = QString("%1").arg(c);
ui->lineEdit_pid_c->setText(c_str);
send_parameter(c, HEAD2_C);
}
//滑动条PID->B回调
void MainWindow::on_hSlider_pid_b_valueChanged(int value)
{
int min = ui->lineEdit_min_b->text().toInt();
int max = ui->lineEdit_max_b->text().toInt();
float b = value/100.0f*(max-min)+min;
QString b_str = QString("%1").arg(b);
ui->lineEdit_pid_b->setText(b_str);
send_parameter(b, HEAD2_B);
}
//滑动条PID->A回调
void MainWindow::on_hSlider_pid_a_valueChanged(int value)
{
int min = ui->lineEdit_min_a->text().toInt();
int max = ui->lineEdit_max_a->text().toInt();
float a = value/100.0f*(max-min)+min;
QString a_str = QString("%1").arg(a);
ui->lineEdit_pid_a->setText(a_str);
send_parameter(a, HEAD2_A);
}
// notify GCS of current value of parameter
void AP_Param::notify() const {
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo, &idx);
if (info == NULL) {
// this is probably very bad
return;
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, idx, name, sizeof(name), true);
uint32_t param_header_type;
if (ginfo != NULL) {
param_header_type = PGM_UINT8(&ginfo->type);
} else {
param_header_type = PGM_UINT8(&info->type);
}
send_parameter(name, (enum ap_var_type)param_header_type);
}
// Save the variable to EEPROM, if supported
//
bool AP_Param::save(bool force_save)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo, &idx);
const AP_Param *ap;
if (info == NULL) {
// we don't have any info on how to store it
return false;
}
struct Param_header phdr;
// create the header we will use to store the variable
if (ginfo != NULL) {
phdr.type = PGM_UINT8(&ginfo->type);
} else {
phdr.type = PGM_UINT8(&info->type);
}
phdr.key = PGM_UINT8(&info->key);
phdr.group_element = group_element;
ap = this;
if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
// only vector3f can have non-zero idx for now
return false;
}
if (idx != 0) {
ap = (const AP_Param *)((uintptr_t)ap) - (idx*sizeof(float));
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, idx, name, sizeof(name), true);
// scan EEPROM to find the right location
uint16_t ofs;
if (scan(&phdr, &ofs)) {
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type);
return true;
}
if (ofs == (uint16_t) ~0) {
return false;
}
// if the value is the default value then don't save
if (phdr.type <= AP_PARAM_FLOAT) {
float v1 = cast_to_float((enum ap_var_type)phdr.type);
float v2;
if (ginfo != NULL) {
v2 = get_default_value(&ginfo->def_value);
} else {
v2 = get_default_value(&info->def_value);
}
if (is_equal(v1,v2) && !force_save) {
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type, v2);
return true;
}
if (phdr.type != AP_PARAM_INT32 &&
(fabsf(v1-v2) < 0.0001f*fabsf(v1))) {
// for other than 32 bit integers, we accept values within
// 0.01 percent of the current value as being the same
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type, v2);
return true;
}
}
if (ofs+type_size((enum ap_var_type)phdr.type)+2*sizeof(phdr) >= _storage.size()) {
// we are out of room for saving variables
hal.console->println("EEPROM full");
return false;
}
// write a new sentinal, then the data, then the header
write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
eeprom_write_check(&phdr, ofs, sizeof(phdr));
send_parameter(name, (enum ap_var_type)phdr.type);
return true;
}
