From 72e5769b1c55f7e96ab13d0be805de288c7cce56 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Tue, 25 Jul 2017 13:07:47 -0400
Subject: [PATCH] Add gps coordinates to vehicle gps factgroup

---
 src/Vehicle/GPSFact.json | 12 ++++++++++++
 src/Vehicle/Vehicle.cc   | 10 ++++++++++
 src/Vehicle/Vehicle.h    |  8 ++++++++
 3 files changed, 30 insertions(+)

diff --git a/src/Vehicle/GPSFact.json b/src/Vehicle/GPSFact.json
index 9b018b459..d9b3c04af 100644
--- a/src/Vehicle/GPSFact.json
+++ b/src/Vehicle/GPSFact.json
@@ -1,4 +1,16 @@
 [
+{
+    "name":             "lat",
+    "shortDescription": "Latitude",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "lon",
+    "shortDescription": "Longitude",
+    "type":             "double",
+    "decimalPlaces":    7
+},
 {
     "name":             "hdop",
     "shortDescription": "HDOP",
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 450629425..b813c0aa8 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -680,6 +680,8 @@ void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
         }
     }
 
+    _gpsFactGroup.lat()->setRawValue(gpsRawInt.lat * 1e-7);
+    _gpsFactGroup.lon()->setRawValue(gpsRawInt.lon * 1e-7);
     _gpsFactGroup.count()->setRawValue(gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
     _gpsFactGroup.hdop()->setRawValue(gpsRawInt.eph == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.eph / 100.0);
     _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
@@ -2458,6 +2460,8 @@ void Vehicle::triggerCamera(void)
                    1.0);                            // test shot flag
 }
 
+const char* VehicleGPSFactGroup::_latFactName =                 "lat";
+const char* VehicleGPSFactGroup::_lonFactName =                 "lon";
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
@@ -2466,18 +2470,24 @@ const char* VehicleGPSFactGroup::_lockFactName =                "lock";
 
 VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
+    , _latFact              (0, _latFactName,               FactMetaData::valueTypeDouble)
+    , _lonFact              (0, _lonFactName,               FactMetaData::valueTypeDouble)
     , _hdopFact             (0, _hdopFactName,              FactMetaData::valueTypeDouble)
     , _vdopFact             (0, _vdopFactName,              FactMetaData::valueTypeDouble)
     , _courseOverGroundFact (0, _courseOverGroundFactName,  FactMetaData::valueTypeDouble)
     , _countFact            (0, _countFactName,             FactMetaData::valueTypeInt32)
     , _lockFact             (0, _lockFactName,              FactMetaData::valueTypeInt32)
 {
+    _addFact(&_latFact,                 _latFactName);
+    _addFact(&_lonFact,                 _lonFactName);
     _addFact(&_hdopFact,                _hdopFactName);
     _addFact(&_vdopFact,                _vdopFactName);
     _addFact(&_courseOverGroundFact,    _courseOverGroundFactName);
     _addFact(&_lockFact,                _lockFactName);
     _addFact(&_countFact,               _countFactName);
 
+    _latFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _lonFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
     _hdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
     _vdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
     _courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index c099b88ed..dd524bcd3 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -113,18 +113,24 @@ class VehicleGPSFactGroup : public FactGroup
 public:
     VehicleGPSFactGroup(QObject* parent = NULL);
 
+    Q_PROPERTY(Fact* lat                READ lat                CONSTANT)
+    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
     Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
     Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
     Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
     Q_PROPERTY(Fact* count              READ count              CONSTANT)
     Q_PROPERTY(Fact* lock               READ lock               CONSTANT)
 
+    Fact* lat               (void) { return &_latFact; }
+    Fact* lon               (void) { return &_lonFact; }
     Fact* hdop              (void) { return &_hdopFact; }
     Fact* vdop              (void) { return &_vdopFact; }
     Fact* courseOverGround  (void) { return &_courseOverGroundFact; }
     Fact* count             (void) { return &_countFact; }
     Fact* lock              (void) { return &_lockFact; }
 
+    static const char* _latFactName;
+    static const char* _lonFactName;
     static const char* _hdopFactName;
     static const char* _vdopFactName;
     static const char* _courseOverGroundFactName;
@@ -132,6 +138,8 @@ public:
     static const char* _lockFactName;
 
 private:
+    Fact        _latFact;
+    Fact        _lonFact;
     Fact        _hdopFact;
     Fact        _vdopFact;
     Fact        _courseOverGroundFact;
-- 
2.22.0