/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #pragma once #include #include "QGCToolbox.h" #include class SimulatedPosition : public QGeoPositionInfoSource { Q_OBJECT public: SimulatedPosition(); QGeoPositionInfo lastKnownPosition(bool fromSatellitePositioningMethodsOnly = false) const; PositioningMethods supportedPositioningMethods() const; int minimumUpdateInterval() const; Error error() const; public slots: virtual void startUpdates(); virtual void stopUpdates(); virtual void requestUpdate(int timeout = 5000); private slots: void updatePosition(); private: QTimer update_timer; QGeoPositionInfo lastPosition; // items for simulating QGC movement in jMAVSIM int32_t lat_int; int32_t lon_int; struct simulated_motion_s { int lon; int lat; }; static simulated_motion_s _simulated_motion[5]; int getRandomNumber(int size); int _step_cnt; int _simulate_motion_index; bool _simulate_motion; float _rotation; };