From fa5672588311308575eed1f68ff53bddb59a9666 Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ualberta.ca>
Date: Fri, 3 Sep 2010 15:43:22 -0600
Subject: [PATCH] Added angular velocities.

Changed NUM_OUTPUT_SIGNALS to an const unsigned short from a #define and moved its definition into OpalRT.h from OpalLink.h so that the configuration would all be in one place.
---
 src/comm/OpalLink.cc                 | 11 +++++------
 src/comm/OpalLink.h                  |  6 ------
 src/comm/OpalRT.h                    | 17 +++++++++++++----
 src/comm/QGCParamID.h                |  2 ++
 src/ui/OpalLinkConfigurationWindow.h |  1 -
 5 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/src/comm/OpalLink.cc b/src/comm/OpalLink.cc
index 7fa51b683..9c10d5d8e 100644
--- a/src/comm/OpalLink.cc
+++ b/src/comm/OpalLink.cc
@@ -196,16 +196,15 @@ void OpalLink::getSignals()
 {
     unsigned long  timeout = 0;
     unsigned short acqGroup = 0; //this is actually group 1 in the model
-    unsigned short allocatedSignals = NUM_OUTPUT_SIGNALS;
     unsigned short *numSignals = new unsigned short(0);
     double *timestep = new double(0);
-    double values[NUM_OUTPUT_SIGNALS] = {};
+    double values[OpalRT::NUM_OUTPUT_SIGNALS] = {};
     unsigned short *lastValues = new unsigned short(false);
     unsigned short *decimation = new unsigned short(0);
 
     while (!(*lastValues))
     {
-        int returnVal = OpalGetSignals(timeout, acqGroup, allocatedSignals, numSignals, timestep,
+        int returnVal = OpalGetSignals(timeout, acqGroup, OpalRT::NUM_OUTPUT_SIGNALS, numSignals, timestep,
                                        values, lastValues, decimation);
 
         if (returnVal == EOK )
@@ -229,9 +228,9 @@ void OpalLink::getSignals()
                                       values[OpalRT::ROLL],
                                       values[OpalRT::PITCH],
                                       values[OpalRT::YAW],
-                                      0, // rollspeed
-                                      0, // pitchspeed
-                                      0 // yawspeed
+                                      values[OpalRT::ROLL_SPEED],
+                                      values[OpalRT::PITCH_SPEED],
+                                      values[OpalRT::YAW_SPEED]
                                       );
             receiveMessage(attitude);
 
diff --git a/src/comm/OpalLink.h b/src/comm/OpalLink.h
index c640ca671..07b685c0b 100644
--- a/src/comm/OpalLink.h
+++ b/src/comm/OpalLink.h
@@ -54,12 +54,6 @@ This file is part of the QGROUNDCONTROL project
 #include "errno.h"
 #include "string.h"
 
-/*
-  Configuration info for the model
- */
-
-#define NUM_OUTPUT_SIGNALS 36
-
 /**
  * @brief Interface to OpalRT targets
  *
diff --git a/src/comm/OpalRT.h b/src/comm/OpalRT.h
index 792728515..e2c64a7ff 100644
--- a/src/comm/OpalRT.h
+++ b/src/comm/OpalRT.h
@@ -37,16 +37,22 @@ This file is part of the QGROUNDCONTROL project
 
 namespace OpalRT
 {
+    /**
+      Configuration info for the model
+     */
+
+    const unsigned short NUM_OUTPUT_SIGNALS=39;
+
     /*  ------------------------------ Outputs ------------------------------
     *
-    *    Copied from Mag_GPS_aided_INS.c Aug 20, 2010
     *      Port 1: Navigation state estimates
     *      1       t   [s]     time elapsed since INS mode started
     *      2-4     p^n [m]     navigation frame position (N,E,D)
     *      5-7     v^n [m/s]   navigation frame velocity (N,E,D)
     *      8-10    Euler angles [rad] (roll, pitch, yaw)
-    *     11-13    b_f [m/s^2] accelerometer biases
-    *     14-16    b_w [rad/s] gyro biases
+    *     11-13    Angular rates
+    *     14-16    b_f [m/s^2] accelerometer biases
+    *     17-19    b_w [rad/s] gyro biases
     *
     *      Port 2: Navigation system status
     *      1       mode    (0: initialization, 1: INS)
@@ -71,6 +77,9 @@ namespace OpalRT
         ROLL,
         PITCH,
         YAW,
+        ROLL_SPEED,
+        PITCH_SPEED,
+        YAW_SPEED,
         B_F_0,
         B_F_1,
         B_F_2,
@@ -79,7 +88,7 @@ namespace OpalRT
         B_W_2
     };       
 
-    /* Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage
+    /** Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage
        to dividing them between component ids.  However this syntax is used so that this can
        easily be changed in the future.
        */
diff --git a/src/comm/QGCParamID.h b/src/comm/QGCParamID.h
index 2f9e2a101..90cf2fcff 100644
--- a/src/comm/QGCParamID.h
+++ b/src/comm/QGCParamID.h
@@ -45,6 +45,8 @@ namespace OpalRT
 {
     /** Stores a param_id for the mavlink parameter packets.  This class adds the convenience
       of storing the id as a string (e.g., easy comparison).
+
+      \todo Fix: warning: deprecated conversion from string constant to 'char*'
       */
     class QGCParamID
     {
diff --git a/src/ui/OpalLinkConfigurationWindow.h b/src/ui/OpalLinkConfigurationWindow.h
index a26e0b9bf..fdac55918 100644
--- a/src/ui/OpalLinkConfigurationWindow.h
+++ b/src/ui/OpalLinkConfigurationWindow.h
@@ -13,7 +13,6 @@ class OpalLinkConfigurationWindow : public QWidget
 Q_OBJECT
 public:
     explicit OpalLinkConfigurationWindow(OpalLink* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
-
 signals:
 
 public slots:
-- 
2.22.0