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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#pragma once
#include <QTimer>
#include <QObject>
#include <QThread>
#include <QGeoPositionInfo>
#include <QGeoPositionInfoSource>
#include <QElapsedTimer>
#include "QGCLoggingCategory.h"
#include "QGCToolbox.h"
#include "MAVLinkProtocol.h"
Q_DECLARE_LOGGING_CATEGORY(FollowMeLog)
class FollowMe : public QGCTool
{
Q_OBJECT
public:
FollowMe(QGCApplication* app);
~FollowMe();
public slots:
void followMeHandleManager(const QString&);
private slots:
void _setGPSLocation(QGeoPositionInfo geoPositionInfo);
void _sendGCSMotionReport(void);
private:
QGeoPositionInfoSource * _locationInfo;
QElapsedTimer runTime;
struct motionReport_s {
uint32_t timestamp; // time since boot
int32_t lat_int; // X Position in WGS84 frame in 1e7 * meters
int32_t lon_int; // Y Position in WGS84 frame in 1e7 * meters
float alt; // Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
float vx; // X velocity in NED frame in meter / s
float vy; // Y velocity in NED frame in meter / s
float vz; // Z velocity in NED frame in meter / s
float afx; // X acceleration in NED frame in meter / s^2 or N
float afy; // Y acceleration in NED frame in meter / s^2 or N
float afz; // Z acceleration in NED frame in meter / s^2 or N
float pos_std_dev[3]; // -1 for unknown
} _motionReport;
QString _followMeStr;
QTimer _gcsMotionReportTimer; ///< Timer to emit motion reports
double _degreesToRadian(double deg);
void disable();
void enable();
// Mavlink defined motion reporting capabilities
enum {
POS = 0,
VEL = 1,
ACCEL = 2,
ATT_RATES = 3
};
#ifdef QT_QML_DEBUG
// items for simulating QGC movment in jMAVSIM
struct simulated_motion_s {
int lon;
int lat;
};
static simulated_motion_s _simulated_motion[4];
int _simulate_motion_timer;
int _simulate_motion_index;
bool _simulate_motion;
void _createSimulatedMotion(mavlink_follow_target_t & follow_target);
#endif
};