rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Merge branch 'pt/CC3D_Release' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

Browse Source
This commit is contained in:
David Ankers 2012-07-30 22:00:20 +10:00
commit 0b055d61fd
2 changed files with 10 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -48,6 +48,7 @@
#include "positionactual.h"
#include "homelocation.h"
#include "gpsposition.h"
#define allow_manual_home_location_move
@ -662,15 +663,17 @@ void OPMapGadgetWidget::updatePosition()
uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
// *************
// get the current GPS details
// get current GPS position
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
// get current GPS position
if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
return;
GPSPosition *gpsPositionData = GPSPosition::GetInstance(objManager);
// get current GPS heading
// gps_heading = getGPS_Heading();
gps_heading = 0;
gps_heading = gpsPositionData->getData().Heading;
gps_latitude = gpsPositionData->getData().Latitude;
gps_longitude = gpsPositionData->getData().Longitude;
gps_altitude = gpsPositionData->getData().Altitude;
gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
@ -698,7 +701,7 @@ void OPMapGadgetWidget::updatePosition()
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
// *************
// *************
}
/**
@ -2387,25 +2390,8 @@ double OPMapGadgetWidget::getUAV_Yaw()
return yaw;
}
bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
{
double LLA[3];
if (!obum)
return false;
if (obum->getGPSPosition(LLA) < 0)
return false; // error
latitude = LLA[0];
longitude = LLA[1];
altitude = LLA[2];
return true;
}
// *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode()
{
if (!m_widget || !m_map)

1
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -350,7 +350,6 @@ private:
internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
bool getUAVPosition(double &latitude, double &longitude, double &altitude);
bool getGPSPosition(double &latitude, double &longitude, double &altitude);
double getUAV_Yaw();
void setMapFollowingMode();