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Merge remote-tracking branch 'origin/amorale/OP-761_uav_position_for_cc' into next

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Alessio Morale 2013-05-28 12:00:10 +02:00
commit e521bf03e9
1 changed files with 15 additions and 5 deletions
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20
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
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@ -2170,17 +2170,27 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
Q_ASSERT(obm != NULL);
PositionActual *positionActual = PositionActual::GetInstance(obm);
Q_ASSERT(positionActual != NULL);
PositionActual::DataFields positionActualData = positionActual->getData();
if(positionActualData.North == 0 && positionActualData.East == 0 && positionActualData.Down == 0){
GPSPosition *gpsPositionObj = GPSPosition::GetInstance(obm);
Q_ASSERT(gpsPositionObj);
GPSPosition::DataFields gpsPositionData = gpsPositionObj->getData();
latitude = gpsPositionData.Latitude / 1.0e7;
longitude = gpsPositionData.Longitude / 1.0e7;
altitude = gpsPositionData.Altitude;
return true;
}
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
Q_ASSERT(homeLocation != NULL);
HomeLocation::DataFields homeLocationData = homeLocation->getData();
homeLLA[0] = homeLocationData.Latitude / 1e7;
homeLLA[1] = homeLocationData.Longitude / 1e7;
homeLLA[0] = homeLocationData.Latitude / 1.0e7;
homeLLA[1] = homeLocationData.Longitude / 1.0e7;
homeLLA[2] = homeLocationData.Altitude;
PositionActual *positionActual = PositionActual::GetInstance(obm);
Q_ASSERT(positionActual != NULL);
PositionActual::DataFields positionActualData = positionActual->getData();
NED[0] = positionActualData.North;
NED[1] = positionActualData.East;