1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QTimer>
#include <QObject>
#include <QThread>
#include <QGeoPositionInfo>
#include <QGeoPositionInfoSource>
#include <QElapsedTimer>
#include "QGCToolbox.h"
#include "MAVLinkProtocol.h"
Q_DECLARE_LOGGING_CATEGORY(FollowMeLog)
class FollowMe : public QGCTool
{
Q_OBJECT
public:
FollowMe(QGCApplication* app, QGCToolbox* toolbox);
void setToolbox(QGCToolbox* toolbox) override;
public slots:
void followMeHandleManager (const QString&);
private slots:
void _setGPSLocation (QGeoPositionInfo geoPositionInfo);
void _sendGCSMotionReport ();
void _settingsChanged ();
private:
QElapsedTimer runTime;
QTimer _gcsMotionReportTimer; // Timer to emit motion reports
struct motionReport_s {
uint32_t timestamp; // time since boot
int32_t lat_int; // X Position in WGS84 frame in 1e7 * meters
int32_t lon_int; // Y Position in WGS84 frame in 1e7 * meters
float alt; // Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
float vx; // X velocity in NED frame in meter / s
float vy; // Y velocity in NED frame in meter / s
float vz; // Z velocity in NED frame in meter / s
float afx; // X acceleration in NED frame in meter / s^2 or N
float afy; // Y acceleration in NED frame in meter / s^2 or N
float afz; // Z acceleration in NED frame in meter / s^2 or N
float pos_std_dev[3]; // -1 for unknown
} _motionReport;
// Mavlink defined motion reporting capabilities
enum {
POS = 0,
VEL = 1,
ACCEL = 2,
ATT_RATES = 3
};
uint8_t estimatation_capabilities;
void _disable ();
void _enable ();
double _degreesToRadian(double deg);
enum {
MODE_NEVER,
MODE_ALWAYS,
MODE_FOLLOWME
};
uint32_t _currentMode;
};