autopilot_calibration.py 文件源码

def onMouseEventsBoatPlot( self, event ):
        self.BoatPlot.SetFocus()

        pos = event.GetPosition()
        if event.LeftDown():
            self.lastmouse = pos

        if event.Dragging():
            dx, dy = pos[0] - self.lastmouse[0], pos[1] - self.lastmouse[1]
            q = pypilot.quaternion.angvec2quat((dx**2 + dy**2)**.4/180*math.pi, [dy, dx, 0])

            self.boat_plot.Q = pypilot.quaternion.multiply(q, self.boat_plot.Q)
            self.BoatPlot.Refresh()
            self.lastmouse = pos

        rotation = event.GetWheelRotation() / 60
        if rotation:
            self.BoatPlot.Refresh()
        while rotation > 0:
            self.boat_plot.Scale /= .9
            rotation -= 1
        while rotation < 0:
            self.boat_plot.Scale *= .9
            rotation += 1