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82 lines
2.9 KiB
C++
82 lines
2.9 KiB
C++
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/**
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******************************************************************************
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*
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* @file telemetryparser.cpp
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* @author Sami Korhonen & the OpenPilot team Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
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* @{
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* @brief A gadget that communicates with antenna tracker and enables basic configuration
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "telemetryparser.h"
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#include <math.h>
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#include <QDebug>
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#include <QStringList>
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/**
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* Initialize the parser
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*/
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TelemetryParser::TelemetryParser(QObject *parent) : GPSParser(parent)
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject *gpsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GPSPosition"));
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if (gpsObj != NULL) {
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connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateGPS(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (GPSPosition).";
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}
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gpsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("HomeLocation"));
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if (gpsObj != NULL) {
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connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateHome(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (HomeLocation).";
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}
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}
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TelemetryParser::~TelemetryParser()
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{
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}
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void TelemetryParser::updateHome( UAVObject* object1) {
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double lat = object1->getField(QString("Latitude"))->getDouble();
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double lon = object1->getField(QString("Longitude"))->getDouble();
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double alt = object1->getField(QString("Altitude"))->getDouble();
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lat *= 1E-7;
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lon *= 1E-7;
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emit home(lat,lon,alt);
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}
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void TelemetryParser::updateGPS( UAVObject* object1) {
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double lat = object1->getField(QString("Latitude"))->getDouble();
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double lon = object1->getField(QString("Longitude"))->getDouble();
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double alt = object1->getField(QString("Altitude"))->getDouble();
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lat *= 1E-7;
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lon *= 1E-7;
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emit position(lat,lon,alt);
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}
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