From aa909cf7dd6e0124b1d116c327d5e62843f1ee69 Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Sat, 4 Sep 2010 16:42:56 +0000
Subject: [PATCH] Various updates: use PDOP on PFD since the INSGPS algo relies
 on it, and more work on GPS Display gadget, minute improvements...

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1524 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../plugins/gpsdisplay/gpsdisplaygadget.cpp   |  1 +
 .../plugins/gpsdisplay/gpsdisplaywidget.cpp   | 22 +++++++++----------
 .../src/plugins/gpsdisplay/gpsdisplaywidget.h |  1 +
 ground/src/plugins/gpsdisplay/gpsparser.h     |  1 +
 .../plugins/gpsdisplay/telemetryparser.cpp    |  7 ++++++
 ground/src/plugins/pfd/pfdgadgetwidget.cpp    |  4 ++--
 6 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp b/ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp
index 8a43c632f..8f17d8f42 100644
--- a/ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp
+++ b/ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp
@@ -106,6 +106,7 @@ void GpsDisplayGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     connect(parser, SIGNAL(datetime(double,double)), m_widget,SLOT(setDateTime(double,double)));
     connect(parser, SIGNAL(packet(char*)), m_widget, SLOT(dumpPacket(char*)));
     connect(parser, SIGNAL(satellite(int,int,int,int,int)), m_widget->gpsSky, SLOT(updateSat(int,int,int,int,int)));
+    connect(parser, SIGNAL(fixtype(QString)), m_widget, SLOT(setFixType(QString)));
 }
 
 void GpsDisplayGadget::onConnect() {
diff --git a/ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp b/ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp
index 642c80c42..2df122d78 100644
--- a/ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp
+++ b/ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp
@@ -53,30 +53,28 @@ GpsDisplayWidget::~GpsDisplayWidget()
 
 void GpsDisplayWidget::setSpeedHeading(double speed, double heading)
 {
-    QString temp = "Speed: ";
-    temp.append(QString::number(speed,'g',10));
-    temp.append(" Heaging: ");
-    temp.append(QString::number(heading,'g',10));
     speed_value->setText(QString::number(speed,'g',10));
     speed_value->adjustSize();
     bear_value->setText(QString::number(heading,'g',10));
     bear_value->adjustSize();
 
-    // widget->textBrowser->append(temp);
 }
 
 void GpsDisplayWidget::setDateTime(double date, double time)
 {
-    QString temp = "Date: ";
-    temp.append(QString::number(date,'g',10));
-    temp.append(" Time: ");
-    temp.append(QString::number(time,'g',10));
-    gdate_value->setText(QString::number(date,'g',10));
-    gdate_value->adjustSize();
+    QString dstring = QString::number(date,'g',10);
+    dstring.insert(6,".");
+    dstring.insert(4,".");
+    gdate_value->setText(dstring);
+    //gdate_value->adjustSize();
     gtime_value->setText(QString::number(time,'g',10));
     gdate_value->adjustSize();
 
-    //textBrowser->append(temp);
+}
+
+void GpsDisplayWidget::setFixType(QString fixtype)
+{
+  fix_value->setText(fixtype);
 }
 
 void GpsDisplayWidget::dumpPacket(char *packet)
diff --git a/ground/src/plugins/gpsdisplay/gpsdisplaywidget.h b/ground/src/plugins/gpsdisplay/gpsdisplaywidget.h
index 891d8ab06..cfb2091a5 100644
--- a/ground/src/plugins/gpsdisplay/gpsdisplaywidget.h
+++ b/ground/src/plugins/gpsdisplay/gpsdisplaywidget.h
@@ -52,6 +52,7 @@ private slots:
    void setDateTime(double, double);
    void setSpeedHeading(double, double);
    void dumpPacket(char*);
+   void setFixType(QString fixtype);
 
 private:
    GpsConstellationWidget * gpsConstellation;
diff --git a/ground/src/plugins/gpsdisplay/gpsparser.h b/ground/src/plugins/gpsdisplay/gpsparser.h
index 379369809..b1d931e26 100644
--- a/ground/src/plugins/gpsdisplay/gpsparser.h
+++ b/ground/src/plugins/gpsdisplay/gpsparser.h
@@ -50,6 +50,7 @@ signals:
    void speedheading(double,double);
    void packet(char*); // Raw NMEA Packet (or just info)
    void satellite(int,int,int,int,int); // Index, PRN, Elevation, Azimuth, SNR
+   void fixtype(QString); // Type of fix (none, 2D, 3D, etc).
 
 };
 
diff --git a/ground/src/plugins/gpsdisplay/telemetryparser.cpp b/ground/src/plugins/gpsdisplay/telemetryparser.cpp
index 6b9159839..39bdd9e6c 100644
--- a/ground/src/plugins/gpsdisplay/telemetryparser.cpp
+++ b/ground/src/plugins/gpsdisplay/telemetryparser.cpp
@@ -75,6 +75,13 @@ void TelemetryParser::updateGPS( UAVObject* object1) {
     double alt = object1->getField(QString("Altitude"))->getDouble();
     emit position(lat,lon,alt);
 
+    double hdg = object1->getField(QString("Heading"))->getDouble();
+    double spd = object1->getField(QString("Groundspeed"))->getDouble();
+    emit speedheading(spd,hdg);
+
+    QString fix = object1->getField(QString("Status"))->getValue().toString();
+    emit fixtype(fix);
+
 }
 
 void TelemetryParser::updateTime( UAVObject* object1) {
diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
index a9ca1aac9..98f14a439 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
@@ -182,9 +182,9 @@ void PFDGadgetWidget::connectNeedles() {
   */
 void PFDGadgetWidget::updateGPS(UAVObject *object1) {
     UAVObjectField* field = object1->getField(QString("Satellites"));
-    UAVObjectField* field1 = object1->getField(QString("HDOP"));
+    UAVObjectField* field1 = object1->getField(QString("PDOP"));
     if (field && field1) {
-        QString s = QString("GPS: ") + field->getValue().toString() + "\nHDP: "
+        QString s = QString("GPS: ") + field->getValue().toString() + "\nPDP: "
                     + field1->getValue().toString();
         if (s != satString) {
             gcsGPSStats->setPlainText(s);