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Code Issues Releases Activity

Fixed UAV following on the new map plug-in - testing with FlightGear.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@868 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2010-06-23 08:59:29 +00:00 committed by pip
parent bd56e4476e
commit d4709c4d89
1 changed files with 10 additions and 2 deletions
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12
ground/src/plugins/opmap/opmapgadgetwidget.cpp
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@ -315,8 +315,16 @@ void OPMapGadgetWidget::updatePosition()
if (followUAVAct->isChecked())
{
internals::PointLatLng uav_pos = internals::PointLatLng(data.Latitude, data.Longitude); // current UAV position
double uav_heading = data.Heading;
internals::PointLatLng map_pos = m_map->CurrentPosition(); // current MAP position
if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos); // center the map onto the UAV
double map_heading = m_map->Rotate();
if (map_pos != uav_pos || map_heading != uav_heading)
{
m_map->SetCurrentPosition(uav_pos); // keep the map centered on the UAV
m_map->SetRotate(uav_heading); // rotate the map to match the uav heading
}
}
}
}
@ -380,7 +388,7 @@ void OPMapGadgetWidget::OnMapDrag()
{
if (followUAVAct)
{ // disable follow UAV mode when the user starts to manually drag the map
if (followUAVAct->isChecked()) followUAVAct->setChecked(false);
// if (followUAVAct->isChecked()) followUAVAct->setChecked(false);
}
}