From 9a5db5fb2d2fac1d3786f8cd400da7b17850d65a Mon Sep 17 00:00:00 2001
From: Mariano Lizarraga <malife@gmail.com>
Date: Fri, 11 Mar 2011 16:30:11 -0600
Subject: [PATCH] Added support for scaled and raw pressure messages

---
 src/uas/SlugsMAV.h    |  2 --
 src/uas/UAS.cc        | 18 +++++++++++++++---
 src/ui/SlugsHilSim.cc |  6 +++---
 3 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index 1fbe14516..db2259e89 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -77,8 +77,6 @@ signals:
     void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
     void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
 
-    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
-
     void slugsBootMsg(int uasId, mavlink_boot_t& boot);
     void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
 
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index dd0eaaeca..3e2e7a596 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -727,12 +727,24 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
                 quint64 time = this->getUnixTime(pressure.usec);
+                emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
+                emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
+                emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
+                emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
+            }
+            break;
+
+            case MAVLINK_MSG_ID_SCALED_PRESSURE:
+            {
+                mavlink_scaled_pressure_t pressure;
+                mavlink_msg_scaled_pressure_decode(&message, &pressure);
+                quint64 time = this->getUnixTime(pressure.usec);
                 emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
-                emit valueChanged(uasId, "diff pressure 1", "hPa", pressure.press_diff1, time);
-                emit valueChanged(uasId, "diff pressure 2", "hPa", pressure.press_diff2, time);
-                emit valueChanged(uasId, "temperature", "deg C", pressure.temperature/100.0f, time);
+                emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
+                emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
             }
             break;
+
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
             {
                 mavlink_rc_channels_raw_t channels;
diff --git a/src/ui/SlugsHilSim.cc b/src/ui/SlugsHilSim.cc
index 22d86668e..11f390b20 100644
--- a/src/ui/SlugsHilSim.cc
+++ b/src/ui/SlugsHilSim.cc
@@ -323,10 +323,10 @@ void SlugsHilSim::commandDatagramToSimulink()
 	#ifdef MAVLINK_ENABLED_SLUGS
     //mavlink_pwm_commands_t* pwdC = (static_cast<SlugsMAV*>(activeUas))->getPwmCommands();
 
-    mavlink_pwm_commands_t* pwdC;
+    //mavlink_pwm_commands_t* pwdC;
 
-    if(pwdC != NULL){
-    }
+//    if(pwdC != NULL){
+//    }
 
     QByteArray data;
     data.resize(22);
-- 
2.22.0