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Code Issues Releases Activity

OP-806 Fix mapwidget/uavitem.cpp to show CAS using AirspeedActual.CalibratedAirspeed

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This commit is contained in:
Alessio Morale 2013-01-12 16:57:28 +01:00
parent da76d775f9
commit 635b1e98e4
2 changed files with 8 additions and 2 deletions
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2
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
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@ -149,7 +149,7 @@ namespace mapcontrol
QString uavoInfoStrLine1, uavoInfoStrLine2;
QString uavoInfoStrLine3, uavoInfoStrLine4;
QString uavoInfoStrLine5;
uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps * 3.6d));
uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));

8
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
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@ -54,6 +54,7 @@
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "airspeedactual.h"
#define allow_manual_home_location_move
@ -587,16 +588,21 @@ void OPMapGadgetWidget::updatePosition()
AttitudeActual *attitudeActualObj = AttitudeActual::GetInstance(obm);
PositionActual *positionActualObj = PositionActual::GetInstance(obm);
VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
AirspeedActual *airspeedActualObj = AirspeedActual::GetInstance(obm);
Gyros *gyrosObj = Gyros::GetInstance(obm);
Q_ASSERT(attitudeActualObj);
Q_ASSERT(positionActualObj);
Q_ASSERT(velocityActualObj);
Q_ASSERT(airspeedActualObj);
Q_ASSERT(gyrosObj);
AttitudeActual::DataFields attitudeActualData = attitudeActualObj->getData();
PositionActual::DataFields positionActualData = positionActualObj->getData();
VelocityActual::DataFields velocityActualData = velocityActualObj->getData();
AirspeedActual::DataFields airspeedActualData = airspeedActualObj->getData();
Gyros::DataFields gyrosData = gyrosObj->getData();
double NED[3]={positionActualData.North, positionActualData.East, positionActualData.Down};
@ -604,7 +610,7 @@ void OPMapGadgetWidget::updatePosition()
//Set the position and heading estimates in the painter module
m_map->UAV->SetNED(NED);
m_map->UAV->SetCAS(-1); //THIS NEEDS TO BECOME AIRSPEED, ONCE WE SETTLE ON A UAVO
m_map->UAV->SetCAS(airspeedActualData.CalibratedAirspeed);
m_map->UAV->SetGroundspeed(vNED, m_maxUpdateRate);
//Convert angular velocities into a rotationg rate around the world-frame yaw axis. This is found by simply taking the dot product of the angular Euler-rate matrix with the angular rates.