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Copy pathVehicleEstimatorStatusFactGroup.cc
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VehicleEstimatorStatusFactGroup.cc
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/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "VehicleEstimatorStatusFactGroup.h"
#include "Vehicle.h"
const char* VehicleEstimatorStatusFactGroup::_goodAttitudeEstimateFactName = "goodAttitudeEsimate";
const char* VehicleEstimatorStatusFactGroup::_goodHorizVelEstimateFactName = "goodHorizVelEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodVertVelEstimateFactName = "goodVertVelEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodHorizPosRelEstimateFactName = "goodHorizPosRelEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodHorizPosAbsEstimateFactName = "goodHorizPosAbsEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodVertPosAbsEstimateFactName = "goodVertPosAbsEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodVertPosAGLEstimateFactName = "goodVertPosAGLEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodConstPosModeEstimateFactName = "goodConstPosModeEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodPredHorizPosRelEstimateFactName = "goodPredHorizPosRelEstimate";
const char* VehicleEstimatorStatusFactGroup::_goodPredHorizPosAbsEstimateFactName = "goodPredHorizPosAbsEstimate";
const char* VehicleEstimatorStatusFactGroup::_gpsGlitchFactName = "gpsGlitch";
const char* VehicleEstimatorStatusFactGroup::_accelErrorFactName = "accelError";
const char* VehicleEstimatorStatusFactGroup::_velRatioFactName = "velRatio";
const char* VehicleEstimatorStatusFactGroup::_horizPosRatioFactName = "horizPosRatio";
const char* VehicleEstimatorStatusFactGroup::_vertPosRatioFactName = "vertPosRatio";
const char* VehicleEstimatorStatusFactGroup::_magRatioFactName = "magRatio";
const char* VehicleEstimatorStatusFactGroup::_haglRatioFactName = "haglRatio";
const char* VehicleEstimatorStatusFactGroup::_tasRatioFactName = "tasRatio";
const char* VehicleEstimatorStatusFactGroup::_horizPosAccuracyFactName = "horizPosAccuracy";
const char* VehicleEstimatorStatusFactGroup::_vertPosAccuracyFactName = "vertPosAccuracy";
VehicleEstimatorStatusFactGroup::VehicleEstimatorStatusFactGroup(QObject* parent)
: FactGroup (500, ":/json/Vehicle/EstimatorStatusFactGroup.json", parent)
, _goodAttitudeEstimateFact (0, _goodAttitudeEstimateFactName, FactMetaData::valueTypeBool)
, _goodHorizVelEstimateFact (0, _goodHorizVelEstimateFactName, FactMetaData::valueTypeBool)
, _goodVertVelEstimateFact (0, _goodVertVelEstimateFactName, FactMetaData::valueTypeBool)
, _goodHorizPosRelEstimateFact (0, _goodHorizPosRelEstimateFactName, FactMetaData::valueTypeBool)
, _goodHorizPosAbsEstimateFact (0, _goodHorizPosAbsEstimateFactName, FactMetaData::valueTypeBool)
, _goodVertPosAbsEstimateFact (0, _goodVertPosAbsEstimateFactName, FactMetaData::valueTypeBool)
, _goodVertPosAGLEstimateFact (0, _goodVertPosAGLEstimateFactName, FactMetaData::valueTypeBool)
, _goodConstPosModeEstimateFact (0, _goodConstPosModeEstimateFactName, FactMetaData::valueTypeBool)
, _goodPredHorizPosRelEstimateFact (0, _goodPredHorizPosRelEstimateFactName, FactMetaData::valueTypeBool)
, _goodPredHorizPosAbsEstimateFact (0, _goodPredHorizPosAbsEstimateFactName, FactMetaData::valueTypeBool)
, _gpsGlitchFact (0, _gpsGlitchFactName, FactMetaData::valueTypeBool)
, _accelErrorFact (0, _accelErrorFactName, FactMetaData::valueTypeBool)
, _velRatioFact (0, _velRatioFactName, FactMetaData::valueTypeFloat)
, _horizPosRatioFact (0, _horizPosRatioFactName, FactMetaData::valueTypeFloat)
, _vertPosRatioFact (0, _vertPosRatioFactName, FactMetaData::valueTypeFloat)
, _magRatioFact (0, _magRatioFactName, FactMetaData::valueTypeFloat)
, _haglRatioFact (0, _haglRatioFactName, FactMetaData::valueTypeFloat)
, _tasRatioFact (0, _tasRatioFactName, FactMetaData::valueTypeFloat)
, _horizPosAccuracyFact (0, _horizPosAccuracyFactName, FactMetaData::valueTypeFloat)
, _vertPosAccuracyFact (0, _vertPosAccuracyFactName, FactMetaData::valueTypeFloat)
{
_addFact(&_goodAttitudeEstimateFact, _goodAttitudeEstimateFactName);
_addFact(&_goodHorizVelEstimateFact, _goodHorizVelEstimateFactName);
_addFact(&_goodVertVelEstimateFact, _goodVertVelEstimateFactName);
_addFact(&_goodHorizPosRelEstimateFact, _goodHorizPosRelEstimateFactName);
_addFact(&_goodHorizPosAbsEstimateFact, _goodHorizPosAbsEstimateFactName);
_addFact(&_goodVertPosAbsEstimateFact, _goodVertPosAbsEstimateFactName);
_addFact(&_goodVertPosAGLEstimateFact, _goodVertPosAGLEstimateFactName);
_addFact(&_goodConstPosModeEstimateFact, _goodConstPosModeEstimateFactName);
_addFact(&_goodPredHorizPosRelEstimateFact, _goodPredHorizPosRelEstimateFactName);
_addFact(&_goodPredHorizPosAbsEstimateFact, _goodPredHorizPosAbsEstimateFactName);
_addFact(&_gpsGlitchFact, _gpsGlitchFactName);
_addFact(&_accelErrorFact, _accelErrorFactName);
_addFact(&_velRatioFact, _velRatioFactName);
_addFact(&_horizPosRatioFact, _horizPosRatioFactName);
_addFact(&_vertPosRatioFact, _vertPosRatioFactName);
_addFact(&_magRatioFact, _magRatioFactName);
_addFact(&_haglRatioFact, _haglRatioFactName);
_addFact(&_tasRatioFact, _tasRatioFactName);
_addFact(&_horizPosAccuracyFact, _horizPosAccuracyFactName);
_addFact(&_vertPosAccuracyFact, _vertPosAccuracyFactName);
}
void VehicleEstimatorStatusFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
{
if (message.msgid != MAVLINK_MSG_ID_ESTIMATOR_STATUS) {
return;
}
mavlink_estimator_status_t estimatorStatus;
mavlink_msg_estimator_status_decode(&message, &estimatorStatus);
goodAttitudeEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_ATTITUDE));
goodHorizVelEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_HORIZ));
goodVertVelEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_VERT));
goodHorizPosRelEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_REL));
goodHorizPosAbsEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_ABS));
goodVertPosAbsEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_ABS));
goodVertPosAGLEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_AGL));
goodConstPosModeEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_CONST_POS_MODE));
goodPredHorizPosRelEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_REL));
goodPredHorizPosAbsEstimate()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_ABS));
gpsGlitch()->setRawValue (estimatorStatus.flags & ESTIMATOR_GPS_GLITCH ? true : false);
accelError()->setRawValue (!!(estimatorStatus.flags & ESTIMATOR_ACCEL_ERROR));
velRatio()->setRawValue (estimatorStatus.vel_ratio);
horizPosRatio()->setRawValue (estimatorStatus.pos_horiz_ratio);
vertPosRatio()->setRawValue (estimatorStatus.pos_vert_ratio);
magRatio()->setRawValue (estimatorStatus.mag_ratio);
haglRatio()->setRawValue (estimatorStatus.hagl_ratio);
tasRatio()->setRawValue (estimatorStatus.tas_ratio);
horizPosAccuracy()->setRawValue (estimatorStatus.pos_horiz_accuracy);
vertPosAccuracy()->setRawValue (estimatorStatus.pos_vert_accuracy);
_setTelemetryAvailable(true);
}