QGroundControl 添加自定义FactGroup-优快云博客

本文链接：https://blog.youkuaiyun.com/nieji3057/article/details/128562881

基于QGC4.1.2版本进行添加，首先由于QGC的原来对FactGroup定义均写在Vehicle.h和Vehicle.cc两个文件中，个人感觉都写在Vehicle文件下回导致文件过大，所以将FactGroup定义进行分离，写在各自的.h和.cc文件下，然后在Vehicle中include。

进入正题，添加自定义的FactGroup有一下几步（以VehicleGPSFactGroup为例）：

新建.h文件然后定义FactGroup类

#pragma once

#include "FactGroup.h"
#include "QGCMAVLink.h"

class VehicleGPSFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleGPSFactGroup(QObject* parent = nullptr);

    Q_PROPERTY(Fact* lat                READ lat                CONSTANT)
    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
    Q_PROPERTY(Fact* mgrs               READ mgrs               CONSTANT)
    Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
    Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
    Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
    Q_PROPERTY(Fact* count              READ count              CONSTANT)
    Q_PROPERTY(Fact* lock               READ lock               CONSTANT)

    Fact* lat               () { return &_latFact; }
    Fact* lon               () { return &_lonFact; }
    Fact* mgrs              () { return &_mgrsFact; }
    Fact* hdop              () { return &_hdopFact; }
    Fact* vdop              () { return &_vdopFact; }
    Fact* courseOverGround  () { return &_courseOverGroundFact; }
    Fact* count             () { return &_countFact; }
    Fact* lock              () { return &_lockFact; }

    static const char* _latFactName;
    static const char* _lonFactName;
    static const char* _mgrsFactName;
    static const char* _hdopFactName;
    static const char* _vdopFactName;
    static const char* _courseOverGroundFactName;
    static const char* _countFactName;
    static const char* _lockFactName;

private:
    Fact        _latFact;
    Fact        _lonFact;
    Fact        _mgrsFact;
    Fact        _hdopFact;
    Fact        _vdopFact;
    Fact        _courseOverGroundFact;
    Fact        _countFact;
    Fact        _lockFact;
};

新建.cc文件，进行类的初始化（不太确定这个是不是叫初始化）

#include "VehicleGPSFactGroup.h"

const char* VehicleGPSFactGroup::_latFactName =                 "lat";
const char* VehicleGPSFactGroup::_lonFactName =                 "lon";
const char* VehicleGPSFactGroup::_mgrsFactName =                "mgrs";
const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
const char* VehicleGPSFactGroup::_countFactName =               "count";
const char* VehicleGPSFactGroup::_lockFactName =                "lock";

VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
    : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
    , _latFact              (0, _latFactName,               FactMetaData::valueTypeDouble)
    , _lonFact              (0, _lonFactName,               FactMetaData::valueTypeDouble)
    , _mgrsFact             (0, _mgrsFactName,              FactMetaData::valueTypeString)
    , _hdopFact             (0, _hdopFactName,              FactMetaData::valueTypeDouble)
    , _vdopFact             (0, _vdopFactName,              FactMetaData::valueTypeDouble)
    , _courseOverGroundFact (0, _courseOverGroundFactName,  FactMetaData::valueTypeDouble)
    , _countFact            (0, _countFactName,             FactMetaData::valueTypeInt32)
    , _lockFact             (0, _lockFactName,              FactMetaData::valueTypeInt32)
{
    _addFact(&_latFact,                 _latFactName);
    _addFact(&_lonFact,                 _lonFactName);
    _addFact(&_mgrsFact,                _mgrsFactName);
    _addFact(&_hdopFact,                _hdopFactName);
    _addFact(&_vdopFact,                _vdopFactName);
    _addFact(&_courseOverGroundFact,    _courseOverGroundFactName);
    _addFact(&_lockFact,                _lockFactName);
    _addFact(&_countFact,               _countFactName);

    _latFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
    _lonFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
    _mgrsFact.setRawValue("");
    _hdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
    _vdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
    _courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
}

添加对应的json文件，这一步有点问题，需要手动修改qgroundcontrol.qrc文件中文件别名

[
{
    "name":             "lat",
    "shortDescription": "Latitude",
    "type":             "double",
    "decimalPlaces":    7
},
{
    "name":             "lon",
    "shortDescription": "Longitude",
    "type":             "double",
    "decimalPlaces":    7
},
{
    "name":             "mgrs",
    "shortDescription": "MGRS Position",
    "type":             "string"
},
{
    "name":             "hdop",
    "shortDescription": "HDOP",
    "type":             "double",
    "decimalPlaces":    1
},
{
    "name":             "vdop",
    "shortDescription": "VDOP",
    "type":             "double",
    "decimalPlaces":    1
},
{
    "name":             "courseOverGround",
    "shortDescription": "Course Over Ground",
    "type":             "double",
    "decimalPlaces":    1,
    "units":            "deg"
},
{
    "name":             "lock",
    "shortDescription": "GPS Lock",
    "type":             "uint32",
    "enumStrings":      "None,None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock (float),3D RTK GPS Lock (fixed),Static (fixed)",
    "enumValues":       "0,1,2,3,4,5,6,7",
    "decimalPlaces":    0
},
{
    "name":             "count",
    "shortDescription": "Sat Count",
    "type":             "uint32"
}
]