Minor compile fixes, added velocities to simulation

files/flightgear/ardupilot.xml → files/flightgear/qgroundcontrol.xml

@@ -52,6 +52,50 @@
    </chunk>
 
    <!-- Velocities -->
+   
+   <chunk>
+    <name>v_n</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-north-fps</node>
+   </chunk>
+   
+   <chunk>
+    <name>v_e</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-east-fps</node>
+   </chunk>
+
+   <chunk>
+    <name>v_d</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-down-fps</node>
+   </chunk>
+
+
+   <chunk>
+    <name>rate_roll</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/roll-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_pitch</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/pitch-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_yaw</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/yaw-rate-degps</node>
+   </chunk>
+   
    <chunk>
      <name>airspeed-kt</name>
      <type>float</type>

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -449,13 +449,8 @@ MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimula
     protocol_timeout(1000),
     timestamp_last_send_setpoint(0),
     systemid(sysid),
-<<<<<<< HEAD
     compid(MAV_COMP_ID_MISSIONPLANNER),
     setpointDelay(10),
-=======
-    compid(MAV_COMP_ID_WAYPOINTPLANNER),
-    setpointDelay(1000),
->>>>>>> master
     yawTolerance(0.4f),
     verbose(true),
     debug(false),

src/comm/QGCFlightGearLink.cc

@@ -217,6 +217,11 @@ void QGCFlightGearLink::readBytes()
     roll = values.at(3).toDouble();
     pitch = values.at(4).toDouble();
     yaw = values.at(5).toDouble();
+    vx = values.at(6).toDouble();
+    vy = values.at(6).toDouble();
+    vz = values.at(6).toDouble();
+
+    // FIXME Accelerations missing
 
 
 

src/uas/UAS.h

@@ -159,7 +159,7 @@ protected: //COMMENTS FOR TEST UNIT
     int timeRemaining;          ///< Remaining time calculated based on previous and current
     int mode;                   ///< The current mode of the MAV
     int status;                 ///< The current status of the MAV
-    int navMode;                ///< The current navigation mode of the MAV
+    uint32_t navMode;                ///< The current navigation mode of the MAV
     quint64 onboardTimeOffset;
 
     bool controlRollManual;     ///< status flag, true if roll is controlled manually