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clean up
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2899 ebee16cc-31ac-478f-84a7-5cbb03baadba
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pip
pip
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@ -46,12 +46,6 @@
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#include "uavtalk/telemetrymanager.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectutilmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "objectpersistence.h"
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#include "positionactual.h"
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#include "homelocation.h"
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@ -91,6 +85,10 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
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m_mouse_waypoint = NULL;
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pm = NULL;
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obm = NULL;
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obum = NULL;
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prev_tile_number = 0;
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min_zoom = max_zoom = 0;
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@ -103,18 +101,22 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
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setMouseTracking(true);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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pm = ExtensionSystem::PluginManager::instance();
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if (pm)
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{
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obm = pm->getObject<UAVObjectManager>();
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obum = pm->getObject<UAVObjectUtilManager>();
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}
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// **************
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// **************
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// get current location
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double latitude = 0;
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double longitude = 0;
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double altitude = 0;
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// current position
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getUAV_LLA(latitude, longitude, altitude);
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//getGPS_LLA(latitude, longitude, altitude);
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// current position
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getUAVPosition(latitude, longitude, altitude);
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internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
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@ -276,13 +278,12 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
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if (pm)
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{
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// Register for Home Location state changes
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (obm)
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{
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
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if (obj)
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{
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connect(obj, SIGNAL(objectUpdated(UAVObject*)), this , SLOT(homePositionUpdated(UAVObject*)));
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connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
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}
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}
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@ -346,7 +347,11 @@ OPMapGadgetWidget::~OPMapGadgetWidget()
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m_waypoint_list_mutex.unlock();
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m_waypoint_list.clear();
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if (m_map) delete m_map;
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if (m_map)
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{
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delete m_map;
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m_map = NULL;
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}
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}
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// *************************************************************************************
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@ -625,7 +630,7 @@ void OPMapGadgetWidget::updatePosition()
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double altitude;
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// get current UAV position
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if (!getUAV_LLA(latitude, longitude, altitude))
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if (!getUAVPosition(latitude, longitude, altitude))
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return;
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// get current UAV heading
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@ -648,7 +653,7 @@ void OPMapGadgetWidget::updatePosition()
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m_map->UAV->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
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m_map->UAV->SetUAVHeading(uav_heading_degrees); // set the maps UAV heading
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if (!getGPS_LLA(latitude, longitude, altitude))
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if (!getGPSPosition(latitude, longitude, altitude))
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return;
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uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
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@ -721,7 +726,7 @@ void OPMapGadgetWidget::updateMousePos()
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double latitude;
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double longitude;
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double altitude;
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if (getUAV_LLA(latitude, longitude, altitude)) // get current UAV position
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if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
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{
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internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
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@ -974,14 +979,11 @@ void OPMapGadgetWidget::onTelemetryConnect()
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{
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telemetry_connected = true;
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if (!obum) return;
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bool set;
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double LLA[3];
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return;
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// ***********************
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// fetch the home location
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@ -1703,7 +1705,7 @@ void OPMapGadgetWidget::onGoUAVAct_triggered()
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double latitude;
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double longitude;
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double altitude;
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if (getUAV_LLA(latitude, longitude, altitude)) // get current UAV position
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if (getUAVPosition(latitude, longitude, altitude)) // get current UAV position
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{
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internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude); // current UAV position
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internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
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@ -2196,25 +2198,23 @@ internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng sourc
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// *************************************************************************************
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bool OPMapGadgetWidget::getUAV_LLA(double &latitude, double &longitude, double &altitude)
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bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
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{
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double BaseECEF[3];
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double NED[3];
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double LLA[3];
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UAVObject *obj;
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return false;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return false;
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if (!obm)
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return false;
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obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("HomeLocation")));
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obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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if (!obj) return false;
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BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
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BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
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BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
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obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionActual")));
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obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
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if (!obj) return false;
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NED[0] = obj->getField(QString("North"))->getDouble() / 100;
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NED[1] = obj->getField(QString("East"))->getDouble() / 100;
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@ -2256,14 +2256,12 @@ bool OPMapGadgetWidget::getUAV_LLA(double &latitude, double &longitude, double &
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// *************************************************************************************
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bool OPMapGadgetWidget::getGPS_LLA(double &latitude, double &longitude, double &altitude)
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bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
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{
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double LLA[3];
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return false;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return false;
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if (!obum)
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return false;
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if (obum->getGPSPosition(LLA) < 0)
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return false; // error
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@ -2277,12 +2275,10 @@ bool OPMapGadgetWidget::getGPS_LLA(double &latitude, double &longitude, double &
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double OPMapGadgetWidget::getUAV_Yaw()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return 0.0;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return 0.0;
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if (!obm)
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return 0;
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UAVObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("AttitudeActual")));
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UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
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double yaw = obj->getField(QString("Yaw"))->getDouble();
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if (yaw != yaw) yaw = 0; // nan detection
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@ -2323,17 +2319,13 @@ void OPMapGadgetWidget::setMapFollowingMode()
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// *************************************************************************************
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// update the HomeLocation UAV Object
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void OPMapGadgetWidget::setHomeLocationObject()
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bool OPMapGadgetWidget::setHomeLocationObject()
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{
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if (!obum)
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return false;
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double LLA[3] = {home_position.coord.Lat(), home_position.coord.Lng(), home_position.altitude};
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectUtilManager *obum = pm->getObject<UAVObjectUtilManager>();
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if (!obum) return;
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if (obum->setHomeLocation(LLA, true) < 0)
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return; // error
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return (obum->setHomeLocation(LLA, true) >= 0);
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}
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// *************************************************************************************
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@ -47,6 +47,12 @@
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#include "utils/coordinateconversions.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectutilmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "objectpersistence.h"
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// ******************************************************
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namespace Ui
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@ -240,7 +246,11 @@ private:
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mapcontrol::OPMapWidget *m_map;
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//opmap_waypointeditor_dialog waypoint_editor_dialog;
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ExtensionSystem::PluginManager *pm;
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UAVObjectManager *obm;
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UAVObjectUtilManager *obum;
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//opmap_waypointeditor_dialog waypoint_editor_dialog;
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//opmap_edit_waypoint_dialog waypoint_edit_dialog;
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@ -320,13 +330,13 @@ private:
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double bearing(internals::PointLatLng from, internals::PointLatLng to);
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internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
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bool getUAV_LLA(double &latitude, double &longitude, double &altitude);
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bool getGPS_LLA(double &latitude, double &longitude, double &altitude);
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bool getUAVPosition(double &latitude, double &longitude, double &altitude);
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bool getGPSPosition(double &latitude, double &longitude, double &altitude);
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double getUAV_Yaw();
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void setMapFollowingMode();
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void setHomeLocationObject();
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bool setHomeLocationObject();
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};
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#endif /* OPMAP_GADGETWIDGET_H_ */
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