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Commit 94cf579e authored by oberion's avatar oberion
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changed position message

parent b7b26912
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Showing with 80 additions and 32 deletions
src/uas/senseSoarMAV.cpp
View file @ 94cf579e
......@@ -108,13 +108,13 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
mavlink_obs_position_t posMsg;
mavlink_msg_obs_position_decode(&message, &posMsg);
quint64 time = getUnixTime();
this->localX = posMsg.pos[0];
this->localY = posMsg.pos[1];
this->localZ = posMsg.pos[2];
emit valueChanged(uasId, "x", "m", this->localX, time);
emit valueChanged(uasId, "y", "m", this->localY, time);
emit valueChanged(uasId, "z", "m", this->localZ, time);
emit localPositionChanged(this, this->localX, this->localY, this->localZ, time);
this->longitude = posMsg.lon/(double)1E7;
this->latitude = posMsg.lat/(double)1E7;
this->altitude = posMsg.alt/1000.0;
emit valueChanged(uasId, "latitude", "deg", this->latitude, time);
emit valueChanged(uasId, "longitude", "deg", this->longitude, time);
emit valueChanged(uasId, "altitude", "m", this->altitude, time);
emit globalPositionChanged(this, this->latitude, this->longitude, this->altitude, time);
break;
}
case MAVLINK_MSG_ID_OBS_QFF:
......
thirdParty/mavlink/include/SenseSoar/SenseSoar.h
View file @ 94cf579e
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Friday, August 12 2011, 12:18 UTC
* Generated on Monday, August 15 2011, 15:40 UTC
*/
#ifndef SENSESOAR_H
#define SENSESOAR_H
......@@ -61,7 +61,7 @@ enum SENSESOAR_MODE
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 12, 0, 32, 0, 12, 0, 12, 0, 24, 0, 4, 4, 12, 0, 12, 0, 20, 0, 4, 0, 5, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/SenseSoar/mavlink.h
View file @ 94cf579e
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Friday, August 12 2011, 12:18 UTC
* Generated on Monday, August 15 2011, 15:40 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/SenseSoar/mavlink_msg_obs_position.h
View file @ 94cf579e
......@@ -4,11 +4,12 @@
typedef struct __mavlink_obs_position_t
{
double pos[3]; ///< Position
int32_t lon; ///< Longitude expressed in 1E7
int32_t lat; ///< Latitude expressed in 1E7
int32_t alt; ///< Altitude expressed in milimeters
} mavlink_obs_position_t;
#define MAVLINK_MSG_OBS_POSITION_FIELD_POS_LEN 3
/**
......@@ -17,15 +18,19 @@ typedef struct __mavlink_obs_position_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param pos Position
* @param lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const double* pos)
static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lon, int32_t lat, int32_t alt)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
i += put_array_by_index((const int8_t*)pos, sizeof(double)*3, i, msg->payload); // Position
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude expressed in 1E7
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude expressed in 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude expressed in milimeters
return mavlink_finalize_message(msg, system_id, component_id, i);
}
......@@ -36,15 +41,19 @@ static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param pos Position
* @param lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const double* pos)
static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lon, int32_t lat, int32_t alt)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
i += put_array_by_index((const int8_t*)pos, sizeof(double)*3, i, msg->payload); // Position
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude expressed in 1E7
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude expressed in 1E7
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude expressed in milimeters
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
......@@ -59,21 +68,23 @@ static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uin
*/
static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position)
{
return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->pos);
return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt);
}
/**
* @brief Send a obs_position message
* @param chan MAVLink channel to send the message
*
* @param pos Position
* @param lon Longitude expressed in 1E7
* @param lat Latitude expressed in 1E7
* @param alt Altitude expressed in milimeters
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, const double* pos)
static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt)
{
mavlink_message_t msg;
mavlink_msg_obs_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, pos);
mavlink_msg_obs_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lon, lat, alt);
mavlink_send_uart(chan, &msg);
}
......@@ -81,15 +92,48 @@ static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, const d
// MESSAGE OBS_POSITION UNPACKING
/**
* @brief Get field pos from obs_position message
* @brief Get field lon from obs_position message
*
* @return Position
* @return Longitude expressed in 1E7
*/
static inline uint16_t mavlink_msg_obs_position_get_pos(const mavlink_message_t* msg, double* r_data)
static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload)[0];
r.b[2] = (msg->payload)[1];
r.b[1] = (msg->payload)[2];
r.b[0] = (msg->payload)[3];
return (int32_t)r.i;
}
memcpy(r_data, msg->payload, sizeof(double)*3);
return sizeof(double)*3;
/**
* @brief Get field lat from obs_position message
*
* @return Latitude expressed in 1E7
*/
static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
* @brief Get field alt from obs_position message
*
* @return Altitude expressed in milimeters
*/
static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0];
r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1];
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2];
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3];
return (int32_t)r.i;
}
/**
......@@ -100,5 +144,7 @@ static inline uint16_t mavlink_msg_obs_position_get_pos(const mavlink_message_t*
*/
static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position)
{
mavlink_msg_obs_position_get_pos(msg, obs_position->pos);
obs_position->lon = mavlink_msg_obs_position_get_lon(msg);
obs_position->lat = mavlink_msg_obs_position_get_lat(msg);
obs_position->alt = mavlink_msg_obs_position_get_alt(msg);
}
thirdParty/mavlink/include/common/common.h
View file @ 94cf579e
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Friday, August 12 2011, 12:18 UTC
* Generated on Monday, August 15 2011, 15:40 UTC
*/
#ifndef COMMON_H
#define COMMON_H
......
thirdParty/mavlink/include/common/mavlink.h
View file @ 94cf579e
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Friday, August 12 2011, 12:18 UTC
* Generated on Monday, August 15 2011, 15:40 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/message_definitions/SenseSoar.xml
View file @ 94cf579e
......@@ -11,8 +11,10 @@
</enums>
<messages>
<message id="170" name="OBS_POSITION">
Position estimate of the observer in NED inertial frame
<field type="double[3]" name="pos">Position</field>
Position estimate of the observer in global frame
<field type="int32_t" name="lon">Longitude expressed in 1E7</field>
<field type="int32_t" name="lat">Latitude expressed in 1E7</field>
<field type="int32_t" name="alt">Altitude expressed in milimeters</field>
</message>
<message id="172" name="OBS_VELOCITY">
velocity estimate of the observer in NED inertial frame
......
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