Update GUI 2.4.0: GPS Status

src/GUI/drone_panel.py

@@ -104,7 +104,7 @@ class DronePanel(QWidget):
     def _init_ui(self):
         """初始化UI"""
         self.setObjectName(f"panel_{self.drone_id}")
-        self.setFixedHeight(140)
+        self.setFixedHeight(160)
         _set_scaled_stylesheet(self, """
             background-color: #2A2A2A;
             border-radius: 8px;
@@ -196,8 +196,12 @@ class DronePanel(QWidget):
         # 第三行：高度
         altitude_row = self._create_altitude_row()
         info_layout.addWidget(altitude_row)
+
+        # 第四行：GNSS 定位狀態
+        gnss_row = self._create_gnss_row()
+        info_layout.addWidget(gnss_row)
         
-        # 第四行：航向 + 速度
+        # 第五行：航向 + 速度
         nav_row = self._create_nav_row()
         info_layout.addWidget(nav_row)
         
@@ -339,6 +343,34 @@ class DronePanel(QWidget):
         altitude_layout.addStretch()
         
         return altitude_row
+
+    def _create_gnss_row(self):
+        """創建 GNSS 定位狀態行。"""
+        gnss_row = QWidget()
+        gnss_layout = QHBoxLayout(gnss_row)
+        gnss_layout.setContentsMargins(0, 0, 0, 0)
+
+        fix_title = QLabel("定位：")
+        _set_scaled_stylesheet(fix_title, "color: #888; min-width: 50px;")
+
+        self.fix_type_label = QLabel("--")
+        self.fix_type_label.setObjectName(f"{self.drone_id}_fix_type_label")
+        _set_scaled_stylesheet(self.fix_type_label, "color: #DDD;")
+
+        error_title = QLabel("誤差(H/V)：")
+        _set_scaled_stylesheet(error_title, "color: #888; margin-left: 8px;")
+
+        self.gnss_error_label = QLabel("--")
+        self.gnss_error_label.setObjectName(f"{self.drone_id}_gnss_error")
+        _set_scaled_stylesheet(self.gnss_error_label, "color: #DDD;")
+
+        gnss_layout.addWidget(fix_title)
+        gnss_layout.addWidget(self.fix_type_label)
+        gnss_layout.addWidget(error_title)
+        gnss_layout.addWidget(self.gnss_error_label)
+        gnss_layout.addStretch()
+
+        return gnss_row
     
     def _create_position_row(self):
         """位置行已移除（位置座標不再顯示於面板）。"""

src/GUI/gui.py

@@ -147,7 +147,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.3.1'
+    VERSION = '2.4.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -414,7 +414,7 @@ class ControlStationUI(QMainWindow):
         self.right_vertical_splitter.setChildrenCollapsible(False)
         self.right_vertical_splitter.setStretchFactor(0, 0)
         self.right_vertical_splitter.setStretchFactor(1, 1)
-        self.right_vertical_splitter.setSizes([170, 700])
+        self.right_vertical_splitter.setSizes([180, 640])
         right_layout.addWidget(self.right_vertical_splitter)
 
         # 添加地圖
@@ -1072,7 +1072,7 @@ class ControlStationUI(QMainWindow):
             self.group_tab_widget.show()
             if hasattr(self, 'right_vertical_splitter'):
                 total = sum(self.right_vertical_splitter.sizes()) or self.height()
-                group_height = getattr(self, '_last_group_panel_height', 170)
+                group_height = getattr(self, '_last_group_panel_height', 230)
                 group_height = min(max(group_height, 120), max(120, total - 120))
                 self.right_vertical_splitter.setSizes([group_height, max(1, total - group_height)])
             self.toggle_group_btn.setText("▼")
@@ -2144,6 +2144,22 @@ class ControlStationUI(QMainWindow):
         if isinstance(panel, DronePanel):
             panel.update_field(field, text, color)
 
+    @staticmethod
+    def _format_gnss_fix_type(fix_type):
+        fix_labels = {
+            0: "No GPS",
+            1: "No GPS",
+            2: "2D Fix",
+            3: "3D Fix",
+            4: "DGPS",
+            5: "RTK Float",
+            6: "RTK Fixed",
+        }
+        try:
+            return fix_labels.get(int(fix_type), f"Fix {fix_type}")
+        except (TypeError, ValueError):
+            return "--"
+
     def update_overview_table(self, drone_id=None, field=None, value=None):
         if not hasattr(self, 'overview_table') or self.overview_table is None: return
         self.overview_table.set_drones(self.drones)
@@ -2309,9 +2325,36 @@ class ControlStationUI(QMainWindow):
                         alt = gps_data.get('alt', 0)
                         if not hasattr(self.monitor, 'drone_gps'):
                             self.monitor.drone_gps = {}
-                        self.monitor.drone_gps[drone_id] = {'lat': lat, 'lon': lon, 'alt': alt}
+                        self.monitor.drone_gps[drone_id] = gps_data.copy()
                         self.queue_overview_update(drone_id, 'latitude', f"{lat:.6f}°")
                         self.queue_overview_update(drone_id, 'longitude', f"{lon:.6f}°")
+                        fix_type = gps_data.get('fix_type')
+                        satellites_visible = gps_data.get('satellites_visible')
+                        eph = gps_data.get('eph')
+                        epv = gps_data.get('epv')
+                        fix_text = self._format_gnss_fix_type(fix_type)
+                        self.update_field(panel, drone_id, 'fix_type_label', fix_text)
+                        if isinstance(eph, (int, float)) and isinstance(epv, (int, float)):
+                            error_text = f"{eph:.1f}/{epv:.1f}"
+                        else:
+                            error_text = "--"
+                        self.update_field(panel, drone_id, 'gnss_error', error_text)
+                        self.queue_overview_update(
+                            drone_id, 'fix_type',
+                            fix_text
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'satellites_visible',
+                            str(satellites_visible) if satellites_visible is not None else "--"
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'eph',
+                            f"{eph:.2f}" if isinstance(eph, (int, float)) else "--"
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'epv',
+                            f"{epv:.2f}" if isinstance(epv, (int, float)) else "--"
+                        )
                     
                     elif msg_type == 'hud':
                         hud_data = data

src/GUI/overview_table.py

@@ -6,8 +6,9 @@ class OverviewTable(QTableWidget):
     """總覽表格，顯示所有無人機的狀態資訊"""
     
     # 默認的資訊類型和映射
-    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "XY位置", "XY速度", "地速", "航向",
+    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "FixType", "衛星數", "EPH", "EPV",
-                          "空速", "油門", "海拔高度", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
+                          "高度", "XY位置", "XY速度", "地速", "航向", "空速", "油門", "海拔高度",
+                          "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
     
     DEFAULT_INFO_TYPE_MAP = {
         "mode": 0,
@@ -15,20 +16,24 @@ class OverviewTable(QTableWidget):
         "battery": 2,
         "longitude": 3,
         "latitude": 4,
-        "altitude": 5,
+        "fix_type": 5,
-        "local": 6,
+        "satellites_visible": 6,
-        "velocity": 7,
+        "eph": 7,
-        "groundspeed": 8,
+        "epv": 8,
-        "heading": 9,
+        "altitude": 9,
-        "airspeed": 10,
+        "local": 10,
-        "throttle": 11,
+        "velocity": 11,
-        "hud_alt": 12,
+        "groundspeed": 12,
-        "climb": 13,
+        "heading": 13,
-        "roll": 14,
+        "airspeed": 14,
-        "pitch": 15,
+        "throttle": 15,
-        "yaw": 16,
+        "hud_alt": 16,
-        "loss_rate": 17,
+        "climb": 17,
-        "ping": 18
+        "roll": 18,
+        "pitch": 19,
+        "yaw": 20,
+        "loss_rate": 21,
+        "ping": 22
     }
     
     def __init__(self, info_types=None, info_type_map=None, parent=None):