From 889a8064b1d5f417dbc1046e79a51c413eed4845 Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Sun, 31 Oct 2010 19:05:13 +0100
Subject: [PATCH] Working on new point of interest (P(POI) visualization in 3D
 and 2D views

---
 src/uas/UAS.cc         | 16 ++++++++++++++++
 src/uas/UASInterface.h |  4 ++++
 2 files changed, 20 insertions(+)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 570f39c967..347244ea1b 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -556,6 +556,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
+#ifdef MAVLINK_ENABLED_PIXHAWK
+            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
+            {
+                mavlink_point_of_interest_t poi;
+                mavlink_msg_point_of_interest_decode(&message, &poi);
+                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
+            }
+            break;
+            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
+            {
+                mavlink_point_of_interest_connection_t poi;
+                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
+                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
+            }
+            break;
+#endif
 #ifdef MAVLINK_ENABLED_UALBERTA
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
             {
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 7141405745..d112989501 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -258,6 +258,10 @@ signals:
      * @param text the status text
      * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
      */
+
+    void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
+    void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
+
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
     /**
      * @brief Update the error count of a device
-- 
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