From 955e3a529b3804f734edcc4b2dacacc56283a473 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Tue, 13 Sep 2011 11:02:34 +0200 Subject: [PATCH] Added global localization plotting --- src/uas/PxQuadMAV.cc | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc index 362de7fc5..3954efb37 100644 --- a/src/uas/PxQuadMAV.cc +++ b/src/uas/PxQuadMAV.cc @@ -108,6 +108,19 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) emit valueChanged(uasId, "vis. z", "m", pos.z, time); } break; + case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE: { + mavlink_global_vision_position_estimate_t pos; + mavlink_msg_global_vision_position_estimate_decode(&message, &pos); + quint64 time = getUnixTime(pos.usec); + //emit valueChanged(uasId, "vis. time", pos.usec, time); + emit valueChanged(uasId, "glob. vis. roll", "rad", pos.roll, time); + emit valueChanged(uasId, "glob. vis. pitch", "rad", pos.pitch, time); + emit valueChanged(uasId, "glob. vis. yaw", "rad", pos.yaw, time); + emit valueChanged(uasId, "glob. vis. x", "m", pos.x, time); + emit valueChanged(uasId, "glob. vis. y", "m", pos.y, time); + emit valueChanged(uasId, "glob. vis. z", "m", pos.z, time); + } + break; case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: { mavlink_vicon_position_estimate_t pos; mavlink_msg_vicon_position_estimate_decode(&message, &pos); -- 2.22.0