Added Extra Message Checkboxes

src/uas/UAS.cc

@@ -714,6 +714,94 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
     sendMessage(msg);
 }
 
+void UAS::enablePositionTransmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 6;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra1Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 7;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra2Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 8;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra3Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 9;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
 void UAS::setParameter(int component, QString id, float value)
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -202,6 +202,10 @@ public slots:
     void enableRCChannelDataTransmission(bool enabled);
     void enableRawControllerDataTransmission(bool enabled);
     void enableRawSensorFusionTransmission(bool enabled);
+    void enablePositionTransmission(bool enabled);
+    void enableExtra1Transmission(bool enabled);
+    void enableExtra2Transmission(bool enabled);
+    void enableExtra3Transmission(bool enabled);
 
     /** @brief Update the system state */
     void updateState();

src/ui/QGCSensorSettingsWidget.cc

@@ -12,6 +12,10 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
     connect(ui->sendControllerCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawControllerDataTransmission(bool)));
     connect(ui->sendExtendedCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtendedSystemStatusTransmission(bool)));
     connect(ui->sendRCCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRCChannelDataTransmission(bool)));
+    connect(ui->sendPositionCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enablePositionTransmission(bool)));
+    connect(ui->sendExtra1CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra1Transmission(bool)));
+    connect(ui->sendExtra2CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra2Transmission(bool)));
+    connect(ui->sendExtra3CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra3Transmission(bool)));
 }
 
 QGCSensorSettingsWidget::~QGCSensorSettingsWidget()

src/ui/QGCSensorSettingsWidget.ui

@@ -54,6 +54,34 @@
         </property>
        </widget>
       </item>
+      <item row="4" column="0">
+       <widget class="QCheckBox" name="sendPositionCheckBox">
+        <property name="text">
+         <string>Send position setpoint and estimate</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QCheckBox" name="sendExtra1CheckBox">
+        <property name="text">
+         <string>Send Extra1</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QCheckBox" name="sendExtra2CheckBox">
+        <property name="text">
+         <string>Send Extra2</string>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="0">
+       <widget class="QCheckBox" name="sendExtra3CheckBox">
+        <property name="text">
+         <string>Send Extra3</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>