GCS/GPS Renamed GPSObject to PositionActual and added field for GPS status (NoGPS, NoFix, Fix2D and Fix3D)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@733 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/hitl/flightgearbridge.cpp

@@ -45,7 +45,7 @@ FlightGearBridge::FlightGearBridge()
     actDesired = ActuatorDesired::GetInstance(objManager);
     altActual = AltitudeActual::GetInstance(objManager);
     attActual = AttitudeActual::GetInstance(objManager);
-    gps = GpsObject::GetInstance(objManager);
+    posActual = PositionActual::GetInstance(objManager);
     telStats = GCSTelemetryStats::GetInstance(objManager);
 
     // Listen to autopilot connection events
@@ -152,7 +152,7 @@ void FlightGearBridge::setupObjects()
     setupInputObject(actDesired, 50);
     setupOutputObject(altActual, 250);
     setupOutputObject(attActual, 50);
-    setupOutputObject(gps, 250);
+    setupOutputObject(posActual, 250);
 }
 
 void FlightGearBridge::setupInputObject(UAVObject* obj, int updatePeriod)
@@ -270,15 +270,15 @@ void FlightGearBridge::processUpdate(QString& data)
     attActual->setData(attActualData);
 
     // Update gps objects
-    GpsObject::DataFields gpsData;
+    PositionActual::DataFields gpsData;
     gpsData.Altitude = altitude;
     gpsData.Heading = heading;
-    gpsData.GroundSpeed = groundspeed;
+    gpsData.Groundspeed = groundspeed;
     gpsData.Latitude = latitude;
     gpsData.Longitude = longitude;
     gpsData.Satellites = 10;
-    gpsData.Updates = 0;
+    gpsData.Status = PositionActual::STATUS_FIX3D;
-    gps->setData(gpsData);
+    posActual->setData(gpsData);
 }
 
 void FlightGearBridge::telStatsUpdated(UAVObject* obj)

ground/src/plugins/hitl/flightgearbridge.h

@@ -37,7 +37,7 @@
 #include "uavobjects/actuatordesired.h"
 #include "uavobjects/altitudeactual.h"
 #include "uavobjects/attitudeactual.h"
-#include "uavobjects/gpsobject.h"
+#include "uavobjects/positionactual.h"
 #include "uavobjects/gcstelemetrystats.h"
 
 class FlightGearBridge: public QObject
@@ -75,7 +75,7 @@ private:
     ActuatorDesired* actDesired;
     AltitudeActual* altActual;
     AttitudeActual* attActual;
-    GpsObject* gps;
+    PositionActual* posActual;
     GCSTelemetryStats* telStats;
     QHostAddress fgHost;
     int inPort;

ground/src/plugins/map/mapgadgetwidget.cpp

@@ -68,7 +68,7 @@ MapGadgetWidget::MapGadgetWidget(QWidget *parent) : QWidget(parent)
     // Get required UAVObjects
     ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
-    m_gpsObj = GpsObject::GetInstance(objManager);
+    m_positionActual = PositionActual::GetInstance(objManager);
 
     m_updateTimer = new QTimer();
     m_updateTimer->setInterval(250);
@@ -94,7 +94,7 @@ void MapGadgetWidget::setPosition(QPointF pos)
 
 void MapGadgetWidget::updatePosition()
 {
-    GpsObject::DataFields data = m_gpsObj->getData();
+    PositionActual::DataFields data = m_positionActual->getData();
     setPosition(QPointF(data.Longitude, data.Latitude));
 }
 

ground/src/plugins/map/mapgadgetwidget.h

@@ -31,7 +31,7 @@
 #include "qmapcontrol/qmapcontrol.h"
 #include <QtGui/QWidget>
 #include "uavobjects/uavobjectmanager.h"
-#include "uavobjects/gpsobject.h"
+#include "uavobjects/positionactual.h"
 
 using namespace qmapcontrol;
 
@@ -66,7 +66,7 @@ private:
    Layer *m_googleSatLayer;
    Layer *m_yahooLayer;
    QTimer *m_updateTimer;
-   GpsObject *m_gpsObj;
+   PositionActual *m_positionActual;
 };
 
 #endif /* MAPGADGETWIDGET_H_ */

ground/src/plugins/scope/plotdata.h

@@ -30,7 +30,7 @@
 
 #include "uavobjects/uavobject.h"
 #include "uavobjects/altitudeactual.h"
-#include "uavobjects/gpsobject.h"
+#include "uavobjects/positionactual.h"
 
 
 #include "qwt/src/qwt.h"

ground/src/plugins/scope/scopegadgetwidget.cpp

@@ -273,7 +273,7 @@ TestDataGen::TestDataGen()
     UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
 
     altActual = AltitudeActual::GetInstance(objManager);
-    gps = GpsObject::GetInstance(objManager);
+    gps = PositionActual::GetInstance(objManager);
 
     //Setup timer
     timer = new QTimer(this);
@@ -292,14 +292,13 @@ void TestDataGen::genTestData()
 
 
     // Update gps objects
-    GpsObject::DataFields gpsData;
+    PositionActual::DataFields gpsData;
     gpsData.Altitude = 0;
     gpsData.Heading = 0;
-    gpsData.GroundSpeed = 0;
+    gpsData.Groundspeed = 0;
     gpsData.Latitude = 0;
     gpsData.Longitude = 0;
     gpsData.Satellites = 10;
-    gpsData.Updates = 0;
     gps->setData(gpsData);
 
     testTime++;

ground/src/plugins/scope/scopegadgetwidget.h

@@ -31,7 +31,7 @@
 #include "plotdata.h"
 #include "uavobjects/uavobject.h"
 #include "uavobjects/altitudeactual.h"
-#include "uavobjects/gpsobject.h"
+#include "uavobjects/positionactual.h"
 
 
 #include "qwt/src/qwt.h"
@@ -69,7 +69,7 @@ public:
 
 private:
     AltitudeActual* altActual;
-    GpsObject* gps;
+    PositionActual* gps;
 
     QTimer *timer;
     double testTime;

ground/src/plugins/uavobjects/positionactual.cpp

@@ -1,12 +1,12 @@
 /**
  ******************************************************************************
  *
- * @file       gpsobject.cpp
+ * @file       positionactual.cpp
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the GpsObject object. This file has been 
+ * @brief      Implementation of the PositionActual object. This file has been 
  *             automatically generated by the UAVObjectGenerator.
  * 
- * @note       Object definition file: gpsobject.xml. 
+ * @note       Object definition file: positionactual.xml. 
  *             This is an automatically generated file.
  *             DO NOT modify manually.
  *
@@ -28,18 +28,26 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include "gpsobject.h"
+#include "positionactual.h"
 #include "uavobjectfield.h"
 
-const QString GpsObject::NAME = QString("GpsObject");
+const QString PositionActual::NAME = QString("PositionActual");
 
 /**
  * Constructor
  */
-GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+PositionActual::PositionActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 {
     // Create fields
     QList<UAVObjectField*> fields;
+    QStringList StatusElemNames;
+    StatusElemNames.append("0");
+    QStringList StatusEnumOptions;
+    StatusEnumOptions.append("NoGPS");
+    StatusEnumOptions.append("NoFix");
+    StatusEnumOptions.append("Fix2D");
+    StatusEnumOptions.append("Fix3D");
+    fields.append( new UAVObjectField(QString("Status"), QString(""), UAVObjectField::ENUM, StatusElemNames, StatusEnumOptions) );
     QStringList LatitudeElemNames;
     LatitudeElemNames.append("0");
     fields.append( new UAVObjectField(QString("Latitude"), QString("degrees"), UAVObjectField::FLOAT32, LatitudeElemNames, QStringList()) );
@@ -52,18 +60,12 @@ GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
     QStringList HeadingElemNames;
     HeadingElemNames.append("0");
     fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
-    QStringList GroundSpeedElemNames;
+    QStringList GroundspeedElemNames;
-    GroundSpeedElemNames.append("0");
+    GroundspeedElemNames.append("0");
-    fields.append( new UAVObjectField(QString("GroundSpeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundSpeedElemNames, QStringList()) );
+    fields.append( new UAVObjectField(QString("Groundspeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundspeedElemNames, QStringList()) );
     QStringList SatellitesElemNames;
     SatellitesElemNames.append("0");
     fields.append( new UAVObjectField(QString("Satellites"), QString(""), UAVObjectField::INT8, SatellitesElemNames, QStringList()) );
-    QStringList UpdatesElemNames;
-    UpdatesElemNames.append("0");
-    fields.append( new UAVObjectField(QString("Updates"), QString(""), UAVObjectField::UINT16, UpdatesElemNames, QStringList()) );
-    QStringList FailuresElemNames;
-    FailuresElemNames.append("0");
-    fields.append( new UAVObjectField(QString("Failures"), QString(""), UAVObjectField::UINT16, FailuresElemNames, QStringList()) );
     QStringList PDOPElemNames;
     PDOPElemNames.append("0");
     fields.append( new UAVObjectField(QString("PDOP"), QString(""), UAVObjectField::FLOAT32, PDOPElemNames, QStringList()) );
@@ -83,7 +85,7 @@ GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 /**
  * Get the default metadata for this object
  */
-UAVObject::Metadata GpsObject::getDefaultMetadata()
+UAVObject::Metadata PositionActual::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
     metadata.flightAccess = ACCESS_READWRITE;
@@ -104,7 +106,7 @@ UAVObject::Metadata GpsObject::getDefaultMetadata()
  * If a default value is not specified the object fields
  * will be initialized to zero.
  */
-void GpsObject::setDefaultFieldValues()
+void PositionActual::setDefaultFieldValues()
 {
 
 }
@@ -112,7 +114,7 @@ void GpsObject::setDefaultFieldValues()
 /**
  * Get the object data fields
  */
-GpsObject::DataFields GpsObject::getData()
+PositionActual::DataFields PositionActual::getData()
 {
     QMutexLocker locker(mutex);
     return data;
@@ -121,7 +123,7 @@ GpsObject::DataFields GpsObject::getData()
 /**
  * Set the object data fields
  */
-void GpsObject::setData(const DataFields& data)
+void PositionActual::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
     // Get metadata
@@ -140,9 +142,9 @@ void GpsObject::setData(const DataFields& data)
  * Do not use this function directly to create new instances, the
  * UAVObjectManager should be used instead.
  */
-UAVDataObject* GpsObject::clone(quint32 instID)
+UAVDataObject* PositionActual::clone(quint32 instID)
 {
-    GpsObject* obj = new GpsObject();
+    PositionActual* obj = new PositionActual();
     obj->initialize(instID, this->getMetaObject());
     return obj;
 }
@@ -150,7 +152,7 @@ UAVDataObject* GpsObject::clone(quint32 instID)
 /**
  * Static function to retrieve an instance of the object.
  */
-GpsObject* GpsObject::GetInstance(UAVObjectManager* objMngr, quint32 instID)
+PositionActual* PositionActual::GetInstance(UAVObjectManager* objMngr, quint32 instID)
 {
-    return dynamic_cast<GpsObject*>(objMngr->getObject(GpsObject::OBJID, instID));
+    return dynamic_cast<PositionActual*>(objMngr->getObject(PositionActual::OBJID, instID));
 }

ground/src/plugins/uavobjects/positionactual.h

@@ -1,12 +1,12 @@
 /**
  ******************************************************************************
  *
- * @file       gpsobject.h
+ * @file       positionactual.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the GpsObject object. This file has been 
+ * @brief      Implementation of the PositionActual object. This file has been 
  *             automatically generated by the UAVObjectGenerator.
  * 
- * @note       Object definition file: gpsobject.xml. 
+ * @note       Object definition file: positionactual.xml. 
  *             This is an automatically generated file.
  *             DO NOT modify manually.
  *
@@ -28,27 +28,26 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef GPSOBJECT_H
+#ifndef POSITIONACTUAL_H
-#define GPSOBJECT_H
+#define POSITIONACTUAL_H
 
 #include "uavdataobject.h"
 #include "uavobjectmanager.h"
 
-class UAVOBJECTS_EXPORT GpsObject: public UAVDataObject
+class UAVOBJECTS_EXPORT PositionActual: public UAVDataObject
 {
     Q_OBJECT
 
 public:
     // Field structure
     typedef struct {
+        quint8 Status;
         float Latitude;
         float Longitude;
         float Altitude;
         float Heading;
-        float GroundSpeed;
+        float Groundspeed;
         qint8 Satellites;
-        quint16 Updates;
-        quint16 Failures;
         float PDOP;
         float HDOP;
         float VDOP;
@@ -56,35 +55,36 @@ public:
     } __attribute__((packed)) DataFields;
 
     // Field information
+    // Field Status information
+    /* Enumeration options for field Status */
+    typedef enum { STATUS_NOGPS=0, STATUS_NOFIX=1, STATUS_FIX2D=2, STATUS_FIX3D=3,  } StatusOptions;
     // Field Latitude information
     // Field Longitude information
     // Field Altitude information
     // Field Heading information
-    // Field GroundSpeed information
+    // Field Groundspeed information
     // Field Satellites information
-    // Field Updates information
-    // Field Failures information
     // Field PDOP information
     // Field HDOP information
     // Field VDOP information
 
   
     // Constants
-    static const quint32 OBJID = 3887395742U;
+    static const quint32 OBJID = 981132812U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;
     static const quint32 NUMBYTES = sizeof(DataFields);
 
     // Functions
-    GpsObject();
+    PositionActual();
 
     DataFields getData();
     void setData(const DataFields& data);
     Metadata getDefaultMetadata();
     UAVDataObject* clone(quint32 instID);
 
-    static GpsObject* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
+    static PositionActual* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
 	
 private:
     DataFields data;
@@ -93,4 +93,4 @@ private:
 
 };
 
-#endif // GPSOBJECT_H
+#endif // POSITIONACTUAL_H

ground/src/plugins/uavobjects/positionactual.py

@@ -1,12 +1,12 @@
 ##
 ##############################################################################
 #
-# @file       gpsobject.py
+# @file       positionactual.py
 # @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
-# @brief      Implementation of the GpsObject object. This file has been 
+# @brief      Implementation of the PositionActual object. This file has been 
 #             automatically generated by the UAVObjectGenerator.
 # 
-# @note       Object definition file: gpsobject.xml. 
+# @note       Object definition file: positionactual.xml. 
 #             This is an automatically generated file.
 #             DO NOT modify manually.
 #
@@ -37,6 +37,20 @@ from collections import namedtuple
 
 # This is a list of instances of the data fields contained in this object
 _fields = [ \
+	uavobject.UAVObjectField(
+		'Status',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'NoGPS',
+			'1' : 'NoFix',
+			'2' : 'Fix2D',
+			'3' : 'Fix3D',
+		}
+	),
 	uavobject.UAVObjectField(
 		'Latitude',
 		'f',
@@ -78,7 +92,7 @@ _fields = [ \
 		}
 	),
 	uavobject.UAVObjectField(
-		'GroundSpeed',
+		'Groundspeed',
 		'f',
 		1,
 		[
@@ -97,26 +111,6 @@ _fields = [ \
 		{
 		}
 	),
-	uavobject.UAVObjectField(
-		'Updates',
-		'H',
-		1,
-		[
-			'0',
-		],
-		{
-		}
-	),
-	uavobject.UAVObjectField(
-		'Failures',
-		'H',
-		1,
-		[
-			'0',
-		],
-		{
-		}
-	),
 	uavobject.UAVObjectField(
 		'PDOP',
 		'f',
@@ -150,11 +144,11 @@ _fields = [ \
 ]
 
 
-class GpsObject(uavobject.UAVObject):
+class PositionActual(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 3887395742
+    OBJID        = 981132812
-    NAME         = "GpsObject"
+    NAME         = "PositionActual"
-    METANAME     = "GpsObjectMeta"
+    METANAME     = "PositionActualMeta"
     ISSINGLEINST = 1
     ISSETTINGS   = 0
 
@@ -178,7 +172,7 @@ class GpsObject(uavobject.UAVObject):
 
 def main():
     # Instantiate the object and dump out some interesting info
-    x = GpsObject()
+    x = PositionActual()
     print (x)
 
 if __name__ == "__main__":

ground/src/plugins/uavobjects/uavobjects.pro

@@ -16,7 +16,6 @@ HEADERS += uavobjects_global.h \
     attitudesettings.h \
     exampleobject2.h \
     exampleobject1.h \
-    gpsobject.h \
     gcstelemetrystats.h \
     flighttelemetrystats.h \
     systemstats.h \
@@ -30,7 +29,8 @@ HEADERS += uavobjects_global.h \
     attitudedesired.h \
     actuatorsettings.h \
     actuatordesired.h \
-    actuatorcommand.h
+    actuatorcommand.h \
+    positionactual.h
 SOURCES += uavobject.cpp \
     uavmetaobject.cpp \
     uavobjectmanager.cpp \
@@ -44,7 +44,6 @@ SOURCES += uavobject.cpp \
     examplesettings.cpp \
     exampleobject2.cpp \
     exampleobject1.cpp \
-    gpsobject.cpp \
     gcstelemetrystats.cpp \
     flighttelemetrystats.cpp \
     systemstats.cpp \
@@ -58,6 +57,7 @@ SOURCES += uavobject.cpp \
     attitudedesired.cpp \
     actuatorsettings.cpp \
     actuatordesired.cpp \
-    actuatorcommand.cpp
+    actuatorcommand.cpp \
+    positionactual.cpp
 DEFINES += UAVOBJECTS_LIBRARY
 OTHER_FILES += UAVObjects.pluginspec

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -42,10 +42,10 @@
 #include "examplesettings.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
-#include "gpsobject.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "objectpersistence.h"
+#include "positionactual.h"
 #include "stabilizationsettings.h"
 #include "systemalarms.h"
 #include "systemsettings.h"
@@ -71,10 +71,10 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new ExampleSettings() );
     objMngr->registerObject( new FlightTelemetryStats() );
     objMngr->registerObject( new GCSTelemetryStats() );
-    objMngr->registerObject( new GpsObject() );
     objMngr->registerObject( new ManualControlCommand() );
     objMngr->registerObject( new ManualControlSettings() );
     objMngr->registerObject( new ObjectPersistence() );
+    objMngr->registerObject( new PositionActual() );
     objMngr->registerObject( new StabilizationSettings() );
     objMngr->registerObject( new SystemAlarms() );
     objMngr->registerObject( new SystemSettings() );

ground/src/shared/uavobjectdefinition/positionactual.xml

@@ -1,13 +1,12 @@
 <xml>
-        <object name="GpsObject" singleinstance="true" settings="false">
+        <object name="PositionActual" singleinstance="true" settings="false">
+            <field name="Status" units="" type="enum" elements="1" options="NoGPS,NoFix,Fix2D,Fix3D"/>
             <field name="Latitude" units="degrees" type="float" elements="1"/>
             <field name="Longitude" units="degrees" type="float" elements="1"/>
             <field name="Altitude" units="meters" type="float" elements="1"/>
             <field name="Heading" units="degrees" type="float" elements="1"/>
-            <field name="GroundSpeed" units="m/s" type="float" elements="1"/>
+            <field name="Groundspeed" units="m/s" type="float" elements="1"/>
             <field name="Satellites" units="" type="int8" elements="1"/>
-            <field name="Updates" units="" type="uint16" elements="1"/>
-            <field name="Failures" units="" type="uint16" elements="1"/>
             <field name="PDOP" units="" type="float" elements="1"/>
             <field name="HDOP" units="" type="float" elements="1"/>
             <field name="VDOP" units="" type="float" elements="1"/>