更新：1、修复航迹手动转TAS时，输出航迹更新信息时没有完整更新航迹信息的问题；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>

data_process_class_dll/tas_ctrl.cpp

@@ -86,22 +86,80 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track>          *trust_track,
 
 						//目标跟踪状态发生改变 对外输出航迹更新信息
 						*Trust_track_num_Output= *Trust_track_num_Output+1;
-						double r_output,azmi_output;
-						coor_trans Coor_trans;
-						Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output);
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r_output);
+
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azmi_output/PI*180);
+						double x,y;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
+						x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*rdp_parameter.radar_system_delay;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
+						y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*rdp_parameter.radar_system_delay;
-								static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+						coor_trans Coor_trans;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=static_cast<float>((*trust_track)[i].Amplitude);
+						double r, azi;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
+						Coor_trans.cart2polar(x, y, &r, &azi);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Range=static_cast<float>(r);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(azi/PI*180);
+
+						if((*trust_track)[i].Height<r)
+							Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>(asin((*trust_track)[i].Height/r)/PI*180);
+						else
+							Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = static_cast<float>((*trust_track)[i].elev_point);
+
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;
+
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V = static_cast<float>(sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]));
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = static_cast<float>((*trust_track)[i].Amplitude);
+
 						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=static_cast<float>((*trust_track)[i].T_track/1000.0);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].GNSS_time=(*trust_track)[i].GNSS_time;
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag;
 						Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*trust_track)[i].Height+rdp_parameter.radar_height);
-						Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Quality = static_cast<float>((*trust_track)[i].Quality * rdp_parameter.track_quality_max);
+
+						double Direction_Angle;
+						Direction_Angle=atan2((*trust_track)[i].X[4], (*trust_track)[i].X[1]);
+						if(Direction_Angle<0){Direction_Angle=Direction_Angle+2*PI;}
+						Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=static_cast<float>(Direction_Angle/PI*180);
+
+						//关联点信息
+						Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=static_cast<float>((*trust_track)[i].range_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=static_cast<float>((*trust_track)[i].azi_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=static_cast<float>((*trust_track)[i].elev_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=static_cast<float>((*trust_track)[i].vr_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=0;
+						Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = static_cast<float>((*trust_track)[i].prf_point);
 						Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = static_cast<float>((*trust_track)[i].snr_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].amp_asv_point = static_cast<float>((*trust_track)[i].amp_asv_point);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].prn_fftn_point = static_cast<float>((*trust_track)[i].prn_fftn_point);
+
+						//输出平滑后的高度
+						Trust_Track_Output[*Trust_track_num_Output-1][0].z = static_cast<float>((*trust_track)[i].Height+rdp_parameter.radar_height);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].x=static_cast<float>((*trust_track)[i].X[0]);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].y=static_cast<float>((*trust_track)[i].X[3]);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=static_cast<float>((*trust_track)[i].X[1]);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=static_cast<float>((*trust_track)[i].X[4]);
+
+						if(acos((-x * cos(Direction_Angle) - y * sin(Direction_Angle)) / r ) < PI / 2)
+						{
+							Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=1;
+							// if(r*abs(sin(azi - Direction_Angle))<500)
+							// {
+							// 	Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=1;
+							// }
+							// else
+							// {
+							// 	Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=0;
+							// }
+						}
+						else
+						{
+							Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Direction=0;
+						}
+
+						Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = static_cast<float>((*trust_track)[i].RCS);
+						Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num;
+
+						std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim));
+						std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim));
+
 						break;
 
 					}