MAVLinkDecoder.cc 19.1 KB
Newer Older
lm's avatar
lm committed
1
#include "MAVLinkDecoder.h"
Don Gagne's avatar
Don Gagne committed
2 3

#include <QDebug>
lm's avatar
lm committed
4 5

MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
Lorenz Meier's avatar
Lorenz Meier committed
6
    QThread()
lm's avatar
lm committed
7
{
Lorenz Meier's avatar
Lorenz Meier committed
8
    Q_UNUSED(parent);
9 10 11 12
    // We're doing it wrong - because the Qt folks got the API wrong:
    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
    moveToThread(this);

lm's avatar
lm committed
13 14 15
    mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
    memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
    memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
16 17 18 19
    for (unsigned int i = 0; i<255;++i)
    {
        componentID[i] = -1;
        componentMulti[i] = false;
pixhawk's avatar
pixhawk committed
20
        onboardTimeOffset[i] = 0;
21 22
        onboardToGCSUnixTimeOffsetAndDelay[i] = 0;
        firstOnboardTime[i] = 0;
23
    }
lm's avatar
lm committed
24

25
    // Fill filter
26 27 28
    // Allow system status
//    messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
//    messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
29
    messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
30
    messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
31 32 33 34 35 36
    messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
    messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);
    messageFilter.insert(MAVLINK_MSG_ID_PARAM_VALUE, false);
    messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
    messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
    messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
37
    messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
38
    messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
39
    messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false);
40
    messageFilter.insert(MAVLINK_MSG_ID_LOG_DATA, false);
41
    #ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
42
    messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
43 44
    #endif
    #ifdef MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE
45
    messageFilter.insert(MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, false);
46
    #endif
47
    messageFilter.insert(MAVLINK_MSG_ID_EXTENDED_MESSAGE, false);
48
    messageFilter.insert(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, false);
49

50 51 52 53
    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
    textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
    textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
54
//    textMessageFilter.insert(MAVLINK_MSG_ID_HIGHRES_IMU, false);
55

56
    connect(protocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkDecoder::receiveMessage);
57 58 59 60 61 62 63 64 65 66 67

    start(LowPriority);
}

/**
 * @brief Runs the thread
 *
 **/
void MAVLinkDecoder::run()
{
    exec();
lm's avatar
lm committed
68 69 70 71 72 73 74 75 76
}

void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
    Q_UNUSED(link);
    memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));

    uint8_t msgid = message.msgid;

77 78 79 80
    // Store an arrival time for this message. This value ends up being calculated later.
    quint64 time = 0;
    
    // The SYSTEM_TIME message is special, in that it's handled here for synchronizing the QGC time with the remote time.
81
    if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME)
lm's avatar
lm committed
82
    {
pixhawk's avatar
pixhawk committed
83 84
        mavlink_system_time_t timebase;
        mavlink_msg_system_time_decode(&message, &timebase);
85 86
        onboardTimeOffset[message.sysid] = (timebase.time_unix_usec+500)/1000 - timebase.time_boot_ms;
        onboardToGCSUnixTimeOffsetAndDelay[message.sysid] = static_cast<qint64>(QGC::groundTimeMilliseconds() - (timebase.time_unix_usec+500)/1000);
lm's avatar
lm committed
87 88 89 90
    }
    else
    {

91
        // See if first value is a time value and if it is, use that as the arrival time for this data.
pixhawk's avatar
pixhawk committed
92 93 94 95 96 97 98 99 100
        uint8_t fieldid = 0;
        uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
        if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
        {
            time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
        }
        else if (QString(messageInfo[msgid].fields[fieldid].name).contains("usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
        {
            time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
101
            time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
pixhawk's avatar
pixhawk committed
102
        }
103
    }
pixhawk's avatar
pixhawk committed
104

105 106
    // Align UAS time to global time
    time = getUnixTimeFromMs(message.sysid, time);
pixhawk's avatar
pixhawk committed
107

108
    // Send out all field values for this message
109
    for (unsigned int i = 0; i < messageInfo[msgid].num_fields; ++i)
110 111
    {
        emitFieldValue(&message, i, time);
lm's avatar
lm committed
112 113 114 115 116 117
    }

    // Send out combined math expressions
    // FIXME XXX TODO
}

pixhawk's avatar
pixhawk committed
118
quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
119
{
pixhawk's avatar
pixhawk committed
120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146
    quint64 ret = 0;
    if (time == 0)
    {
        ret = QGC::groundTimeMilliseconds() - onboardToGCSUnixTimeOffsetAndDelay[systemID];
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
#ifndef _MSC_VER
    else if (time < 1261440000000LLU)
#else
    else if (time < 1261440000000)
#endif
    {
147
        if (onboardTimeOffset[systemID] == 0 || time < (firstOnboardTime[systemID]-100))
pixhawk's avatar
pixhawk committed
148 149 150 151
        {
            firstOnboardTime[systemID] = time;
            onboardTimeOffset[systemID] = QGC::groundTimeMilliseconds() - time;
        }
152 153 154

        if (time > firstOnboardTime[systemID]) firstOnboardTime[systemID] = time;

pixhawk's avatar
pixhawk committed
155 156 157 158 159 160 161 162 163
        ret = time + onboardTimeOffset[systemID];
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        ret = time;
    }

164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192

//    // Check if the offset estimation likely went wrong
//    // and we're talking to a new instance / the system
//    // has rebooted. Only reset if this is consistent.
//    if (!isNull && lastNonNullTime > ret)
//    {
//        onboardTimeOffsetInvalidCount++;
//    }
//    else if (!isNull && lastNonNullTime < ret)
//    {
//        onboardTimeOffsetInvalidCount = 0;
//    }

//    // Reset onboard time offset estimation, since it seems to be really off
//    if (onboardTimeOffsetInvalidCount > 20)
//    {
//        onboardTimeOffset = 0;
//        onboardTimeOffsetInvalidCount = 0;
//        lastNonNullTime = 0;
//        qDebug() << "RESETTET ONBOARD TIME OFFSET";
//    }

//    // If we're progressing in time, set it
//    // else wait for the reboot detection to
//    // catch the timestamp wrap / reset
//    if (!isNull && (lastNonNullTime < ret)) {
//        lastNonNullTime = ret;
//    }

pixhawk's avatar
pixhawk committed
193 194 195
    return ret;
}

lm's avatar
lm committed
196 197
void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
{
198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
    bool multiComponentSourceDetected = false;

    // Store component ID
    if (componentID[msg->msgid] == -1)
    {
        componentID[msg->msgid] = msg->compid;
    }
    else
    {
        // Got this message already
        if (componentID[msg->msgid] != msg->compid)
        {
            componentMulti[msg->msgid] = true;
        }
    }

    if (componentMulti[msg->msgid] == true) multiComponentSourceDetected = true;

lm's avatar
lm committed
216 217
    // Add field tree widget item
    uint8_t msgid = msg->msgid;
218
    if (messageFilter.contains(msgid)) return;
lm's avatar
lm committed
219 220 221 222 223
    QString fieldName(messageInfo[msgid].fields[fieldid].name);
    QString fieldType;
    uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
    QString name("%1.%2");
    QString unit("");
pixhawk's avatar
pixhawk committed
224 225 226 227 228 229

    // Debug vector messages
    if (msgid == MAVLINK_MSG_ID_DEBUG_VECT)
    {
        mavlink_debug_vect_t debug;
        mavlink_msg_debug_vect_decode(msg, &debug);
230 231 232
        char buf[11];
        strncpy(buf, debug.name, 10);
        buf[10] = '\0';
233
        name = QString("%1.%2").arg(buf).arg(fieldName);
234
        time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
pixhawk's avatar
pixhawk committed
235
    }
236 237 238 239 240
    else if (msgid == MAVLINK_MSG_ID_DEBUG)
    {
        mavlink_debug_t debug;
        mavlink_msg_debug_decode(msg, &debug);
        name = name.arg(QString("debug")).arg(debug.ind);
241
        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
242 243 244 245 246
    }
    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
    {
        mavlink_named_value_float_t debug;
        mavlink_msg_named_value_float_decode(msg, &debug);
247 248 249 250
        char buf[11];
        strncpy(buf, debug.name, 10);
        buf[10] = '\0';
        name = QString(buf);
251
        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
252 253 254 255 256
    }
    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
    {
        mavlink_named_value_int_t debug;
        mavlink_msg_named_value_int_decode(msg, &debug);
257 258 259 260
        char buf[11];
        strncpy(buf, debug.name, 10);
        buf[10] = '\0';
        name = QString(buf);
261
        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
262
    }
263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282
    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW)
    {
        // XXX this is really ugly, but we do not know a better way to do this
        mavlink_rc_channels_raw_t raw;
        mavlink_msg_rc_channels_raw_decode(msg, &raw);
        name = name.arg(messageInfo[msgid].name).arg(fieldName);
        name.prepend(QString("port%1_").arg(raw.port));
    }
    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
    {
        // XXX this is really ugly, but we do not know a better way to do this
        mavlink_rc_channels_scaled_t scaled;
        mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
        name = name.arg(messageInfo[msgid].name).arg(fieldName);
        name.prepend(QString("port%1_").arg(scaled.port));
    }
    else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
    {
        // XXX this is really ugly, but we do not know a better way to do this
        mavlink_servo_output_raw_t servo;
283
        mavlink_msg_servo_output_raw_decode(msg, &servo);
284 285 286
        name = name.arg(messageInfo[msgid].name).arg(fieldName);
        name.prepend(QString("port%1_").arg(servo.port));
    }
pixhawk's avatar
pixhawk committed
287 288
    else
    {
289
        name = name.arg(messageInfo[msgid].name).arg(fieldName);
pixhawk's avatar
pixhawk committed
290 291
    }

292 293
    if (multiComponentSourceDetected)
    {
294
        name = name.prepend(QString("C%1:").arg(msg->compid));
295 296
    }

297
    name = name.prepend(QString("M%1:").arg(msg->sysid));
298

lm's avatar
lm committed
299 300 301 302 303 304 305 306 307
    switch (messageInfo[msgid].fields[fieldid].type)
    {
    case MAVLINK_TYPE_CHAR:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            // Enforce null termination
            str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
            QString string(name + ": " + str);
308
            if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, MAV_SEVERITY_INFO, string);
lm's avatar
lm committed
309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340
        }
        else
        {
            // Single char
            char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
            emit valueChanged(msg->sysid, name, unit, b, time);
        }
        break;
    case MAVLINK_TYPE_UINT8_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
            fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = "uint8_t";
            emit valueChanged(msg->sysid, name, fieldType, u, time);
        }
        break;
    case MAVLINK_TYPE_INT8_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
341
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "int8_t";
            emit valueChanged(msg->sysid, name, fieldType, n, time);
        }
        break;
    case MAVLINK_TYPE_UINT16_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
359
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "uint16_t";
            emit valueChanged(msg->sysid, name, fieldType, n, time);
        }
        break;
    case MAVLINK_TYPE_INT16_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
377
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "int16_t";
            emit valueChanged(msg->sysid, name, fieldType, n, time);
        }
        break;
    case MAVLINK_TYPE_UINT32_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
395
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
396 397 398 399 400 401 402
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
403
            uint32_t n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
lm's avatar
lm committed
404 405 406 407 408 409 410 411 412
            fieldType = "uint32_t";
            emit valueChanged(msg->sysid, name, fieldType, n, time);
        }
        break;
    case MAVLINK_TYPE_INT32_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
413
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "int32_t";
            emit valueChanged(msg->sysid, name, fieldType, n, time);
        }
        break;
    case MAVLINK_TYPE_FLOAT:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
431
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
432
            {
433
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
lm's avatar
lm committed
434 435 436 437 438 439 440 441 442 443 444 445 446 447 448
            }
        }
        else
        {
            // Single value
            float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "float";
            emit valueChanged(msg->sysid, name, fieldType, f, time);
        }
        break;
    case MAVLINK_TYPE_DOUBLE:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
449
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466
            {
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
            }
        }
        else
        {
            // Single value
            double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "double";
            emit valueChanged(msg->sysid, name, fieldType, f, time);
        }
        break;
    case MAVLINK_TYPE_UINT64_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
467
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
468
            {
pixhawk's avatar
pixhawk committed
469
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
lm's avatar
lm committed
470 471 472 473 474 475 476
            }
        }
        else
        {
            // Single value
            uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "uint64_t";
pixhawk's avatar
pixhawk committed
477
            emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time);
lm's avatar
lm committed
478 479 480 481 482 483 484
        }
        break;
    case MAVLINK_TYPE_INT64_T:
        if (messageInfo[msgid].fields[fieldid].array_length > 0)
        {
            int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
            fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
485
            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
lm's avatar
lm committed
486
            {
pixhawk's avatar
pixhawk committed
487
                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
lm's avatar
lm committed
488 489 490 491 492 493 494
            }
        }
        else
        {
            // Single value
            int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
            fieldType = "int64_t";
pixhawk's avatar
pixhawk committed
495
            emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
lm's avatar
lm committed
496 497
        }
        break;
498 499
    default:
        qDebug() << "WARNING: UNKNOWN MAVLINK TYPE";
lm's avatar
lm committed
500 501
    }
}