From a825303c6d0758742ad24bdb9360c2629da57894 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Fri, 15 Jul 2011 15:02:18 +0200 Subject: [PATCH] added vision speed estimate parsing (pixhawk specific) --- src/uas/PxQuadMAV.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc index 1ad0fbfe8..80f402110 100644 --- a/src/uas/PxQuadMAV.cc +++ b/src/uas/PxQuadMAV.cc @@ -120,7 +120,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) emit valueChanged(uasId, "vicon x", "m", pos.x, time); emit valueChanged(uasId, "vicon y", "m", pos.y, time); emit valueChanged(uasId, "vicon z", "m", pos.z, time); - emit localPositionChanged(this, pos.x, pos.y, pos.z, time); + //emit localPositionChanged(this, pos.x, pos.y, pos.z, time); + } + break; + case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: { + mavlink_vision_speed_estimate_t speed; + mavlink_msg_vision_speed_estimate_decode(&message, &speed); + quint64 time = getUnixTime(speed.usec); + emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time); + emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time); + emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time); } break; case MAVLINK_MSG_ID_AUX_STATUS: { -- 2.22.0