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Valentin Platzgummer
qgroundcontrol
Commits
3c7c9b74
Commit
3c7c9b74
authored
Feb 24, 2017
by
Gus Grubba
Browse files
Added altitude to the Vehicle coordinate (QGeoCoordinate)
parent
c62e1fbb
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/Vehicle/Vehicle.cc
View file @
3c7c9b74
...
...
@@ -605,8 +605,11 @@ void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
if
(
gpsRawInt
.
fix_type
>=
GPS_FIX_TYPE_3D_FIX
)
{
if
(
!
_globalPositionIntMessageAvailable
)
{
setLatitude
(
gpsRawInt
.
lat
/
(
double
)
1E7
);
setLongitude
(
gpsRawInt
.
lon
/
(
double
)
1E7
);
//-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
_coordinate
.
setLatitude
(
gpsRawInt
.
lat
/
(
double
)
1E7
);
_coordinate
.
setLongitude
(
gpsRawInt
.
lon
/
(
double
)
1E7
);
_coordinate
.
setAltitude
(
gpsRawInt
.
alt
/
1000.0
);
emit
coordinateChanged
(
_coordinate
);
_altitudeAMSLFact
.
setRawValue
(
gpsRawInt
.
alt
/
1000.0
);
}
}
...
...
@@ -628,9 +631,11 @@ void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
mavlink_msg_global_position_int_decode
(
&
message
,
&
globalPositionInt
);
_globalPositionIntMessageAvailable
=
true
;
setLatitude
(
globalPositionInt
.
lat
/
(
double
)
1E7
);
setLongitude
(
globalPositionInt
.
lon
/
(
double
)
1E7
);
//-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
_coordinate
.
setLatitude
(
globalPositionInt
.
lat
/
(
double
)
1E7
);
_coordinate
.
setLongitude
(
globalPositionInt
.
lon
/
(
double
)
1E7
);
_coordinate
.
setAltitude
(
globalPositionInt
.
alt
/
1000.0
);
emit
coordinateChanged
(
_coordinate
);
_altitudeRelativeFact
.
setRawValue
(
globalPositionInt
.
relative_alt
/
1000.0
);
_altitudeAMSLFact
.
setRawValue
(
globalPositionInt
.
alt
/
1000.0
);
}
...
...
@@ -1136,6 +1141,11 @@ void Vehicle::setLongitude(double longitude){
emit
coordinateChanged
(
_coordinate
);
}
void
Vehicle
::
setAltitude
(
double
altitude
){
_coordinate
.
setAltitude
(
altitude
);
emit
coordinateChanged
(
_coordinate
);
}
void
Vehicle
::
_updateAttitude
(
UASInterface
*
,
double
roll
,
double
pitch
,
double
yaw
,
quint64
)
{
if
(
qIsInf
(
roll
))
{
...
...
src/Vehicle/Vehicle.h
View file @
3c7c9b74
...
...
@@ -645,8 +645,11 @@ public:
QString
vehicleImageCompass
()
const
;
public
slots
:
void
setLatitude
(
double
latitude
);
void
setLongitude
(
double
longitude
);
/// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
/// and destroyed when the vehicle goes away.
void
setLatitude
(
double
latitude
);
void
setLongitude
(
double
longitude
);
void
setAltitude
(
double
altitude
);
signals:
void
allLinksInactive
(
Vehicle
*
vehicle
);
...
...
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