UAS.cc

{
    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
    double seconds = dt / 1000.0f;
    double voltDifference = startVoltage - currentVoltage;
    if (voltDifference <= 0) voltDifference = 0.00000000001f;
    double dischargePerSecond = voltDifference / seconds;
    int remaining = static_cast<int>((currentVoltage - emptyVoltage) / dischargePerSecond);
    // Can never be below 0
    if (remaining < 0) remaining = 0;
    return remaining;
}

/**
 * @return charge level in percent - 0 - 100
 */
double UAS::getChargeLevel()
{
    return 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
}

void UAS::startLowBattAlarm()
{
    if (!lowBattAlarm)
    {
        GAudioOutput::instance()->startEmergency("BATTERY");
        lowBattAlarm = true;
    }
}

void UAS::stopLowBattAlarm()
{
    if (lowBattAlarm)
    {
        GAudioOutput::instance()->stopEmergency();
        lowBattAlarm = false;
    }
}

void UAS::clearWaypointList()
{
    mavlink_message_t message;
    // FIXME
    //messagePackRemoveWaypoints(MG::SYSTEM::ID, &message);
    sendMessage(message);
    qDebug() << "UAS clears Waypoints!";
}