Addition of more Q_PROPERTIES to UAS.cc, including visible GPS satellite count

src/uas/UAS.cc

@@ -81,9 +81,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     latitude_gps(0.0),
     longitude_gps(0.0),
     altitude_gps(0.0),
-    roll(0.0),
-    pitch(0.0),
-    yaw(0.0),
     statusTimeout(new QTimer(this)),
     #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     receivedOverlayTimestamp(0.0),
@@ -621,9 +618,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (!wrongComponent)
             {
                 lastAttitude = time;
-                roll = QGC::limitAngleToPMPIf(attitude.roll);
-                pitch = QGC::limitAngleToPMPIf(attitude.pitch);
-                yaw = QGC::limitAngleToPMPIf(attitude.yaw);
+                //roll = QGC::limitAngleToPMPIf(attitude.roll);
+                setRoll(QGC::limitAngleToPMPIf(attitude.roll));
+                //pitch = QGC::limitAngleToPMPIf(attitude.pitch);
+                setPitch(QGC::limitAngleToPMPIf(attitude.pitch));
+                //yaw = QGC::limitAngleToPMPIf(attitude.yaw);
+                setYaw(QGC::limitAngleToPMPIf(attitude.yaw));
 
                 //                // Emit in angles
 
@@ -643,7 +643,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 //                }
 
                 attitudeKnown = true;
-                emit attitudeChanged(this, roll, pitch, yaw, time);
+                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
                 emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
             }
         }
@@ -677,8 +677,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!attitudeKnown)
             {
-                yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
-                emit attitudeChanged(this, roll, pitch, yaw, time);
+                //yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
+                setYaw(QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI));
+                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
             }
 
             emit altitudeChanged(uasId, hud.alt);
@@ -777,9 +778,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 loc_type = 0; 
             }
             emit localizationChanged(this, loc_type);
+            setSatelliteCount(pos.satellites_visible);
 
             if (pos.fix_type > 2)
             {
+
                 latitude_gps = pos.lat/(double)1E7;
                 longitude_gps = pos.lon/(double)1E7;
                 altitude_gps = pos.alt/1000.0;
@@ -822,6 +825,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
             }
+            setSatelliteCount(pos.satellites_visible);
         }
             break;
         case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:

src/uas/UAS.h

@@ -106,11 +106,12 @@ public:
     Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
     Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
     Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
+    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
     Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
     Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
-    Q_PROPERTY(double roll READ getRoll)
-    Q_PROPERTY(double pitch READ getPitch)
-    Q_PROPERTY(double yaw READ getYaw)
+    Q_PROPERTY(double roll READ getRoll WRITE setRoll NOTIFY rollChanged)
+    Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
+    Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
 
     void setLocalX(double val)
     {
@@ -172,6 +173,18 @@ public:
     {
         return altitude;
     }
+
+    void setSatelliteCount(double val)
+    {
+        satelliteCount = val;
+        emit satelliteCountChanged(val,"satelliteCount");
+    }
+
+    double getSatelliteCount() const
+    {
+        return satelliteCount;
+    }
+
     virtual bool localPositionKnown() const
     {
         return isLocalPositionKnown;
@@ -181,14 +194,34 @@ public:
         return isGlobalPositionKnown;
     }
 
+    void setRoll(double val)
+    {
+        roll = val;
+        emit rollChanged(val,"roll");
+    }
+
     double getRoll() const
     {
         return roll;
     }
+
+    void setPitch(double val)
+    {
+        pitch = val;
+        emit pitchChanged(val,"pitch");
+    }
+
     double getPitch() const
     {
         return pitch;
     }
+
+    void setYaw(double val)
+    {
+        yaw = val;
+        emit yawChanged(val,"yaw");
+    }
+
     double getYaw() const
     {
         return yaw;
@@ -329,6 +362,7 @@ protected: //COMMENTS FOR TEST UNIT
     double latitude;            ///< Global latitude as estimated by position estimator
     double longitude;           ///< Global longitude as estimated by position estimator
     double altitude;            ///< Global altitude as estimated by position estimator
+    double satelliteCount;      ///< Number of satellites visible to raw GPS
     bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
     double latitude_gps;        ///< Global latitude as estimated by raw GPS
     double longitude_gps;       ///< Global longitude as estimated by raw GPS
@@ -754,6 +788,10 @@ signals:
     void latitudeChanged(double val,QString name);
     void altitudeChanged(double val,QString name);
     void altitudeChanged(int uasid, double altitude);
+    void rollChanged(double val,QString name);
+    void pitchChanged(double val,QString name);
+    void yawChanged(double val,QString name);
+    void satelliteCountChanged(double val,QString name);
 
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */