From 76b5784c197a437128da86bcc09e173f2d46ffc8 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 23 Aug 2014 22:12:41 +0200
Subject: [PATCH] emit roll, pitch and yaw setpoints for plotting

---
 src/uas/UAS.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f4e25b4bf..d110dd58f 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1131,6 +1131,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_quaternion_to_euler(out.q, &roll, &pitch, &yaw);
             quint64 time = getUnixTimeFromMs(out.time_boot_ms);
             emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, out.thrust, time);
+
+            // For plotting emit roll sp, pitch sp and yaw sp values
+            emit valueChanged(uasId, "roll sp", "rad", roll, out.time_boot_ms);
+            emit valueChanged(uasId, "pitch sp", "rad", pitch, out.time_boot_ms);
+            emit valueChanged(uasId, "yaw sp", "rad", yaw, out.time_boot_ms);
         }
             break;
         case MAVLINK_MSG_ID_MISSION_COUNT:
-- 
2.22.0