QGCXPlaneLink.cc

//    pos.psi_the_phi[0] = -999;
//    pos.psi_the_phi[1] = -999;
//    pos.psi_the_phi[2] = -999;
//    pos.gear_flap_vect[0] = -999;
//    pos.gear_flap_vect[1] = -999;
//    pos.gear_flap_vect[2] = -999;

//    writeBytes((const char*)&pos, sizeof(pos));
}

/**
 * Sets a random position with an offset of max 1/1000 degree
 * and max 100 m altitude
 */
void QGCXPlaneLink::setRandomPosition()
{
    // Initialize generator
    srand(0);

    double offLat = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
    double offLon = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
    double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;

    if (mav->getAltitudeAMSL() + offAlt < 0)
    {
        offAlt *= -1.0;
    }

    setPositionAttitude(mav->getLatitude() + offLat,
                        mav->getLongitude() + offLon,
                        mav->getAltitudeAMSL() + offAlt,
                        mav->getRoll(),
                        mav->getPitch(),
                        mav->getYaw());
}

void QGCXPlaneLink::setRandomAttitude()
{
    // Initialize generator
    srand(0);

    double roll = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
    double pitch = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
    double yaw = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;

    setPositionAttitude(mav->getLatitude(),
                        mav->getLongitude(),
                        mav->getAltitudeAMSL(),
                        roll,
                        pitch,
                        yaw);
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool QGCXPlaneLink::connectSimulation()
{
    if (connectState) {
        qDebug() << "Simulation already active";
    } else {
        qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
        // XXX Hack
        storeSettings();

        start(HighPriority);
    }

    return true;
}

/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
bool QGCXPlaneLink::isConnected()
{
    return connectState;
}

QString QGCXPlaneLink::getName()
{
    return name;
}

void QGCXPlaneLink::setName(QString name)
{
    this->name = name;
    //    emit nameChanged(this->name);
}