VehicleLocalPositionFactGroup.cc

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#include "VehicleLocalPositionFactGroup.h"
#include "Vehicle.h"
 
VehicleLocalPositionFactGroup::VehicleLocalPositionFactGroup(QObject *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/LocalPositionFact.json"), parent)
{
    _addFact(&_xFact);
    _addFact(&_yFact);
    _addFact(&_zFact);
    _addFact(&_vxFact);
    _addFact(&_vyFact);
    _addFact(&_vzFact);
 
    _xFact.setRawValue(qQNaN());
    _yFact.setRawValue(qQNaN());
    _zFact.setRawValue(qQNaN());
    _vxFact.setRawValue(qQNaN());
    _vyFact.setRawValue(qQNaN());
    _vzFact.setRawValue(qQNaN());
}
 
void VehicleLocalPositionFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    Q_UNUSED(vehicle);
 
    if (message.msgid != MAVLINK_MSG_ID_LOCAL_POSITION_NED) {
        return;
    }
 
    mavlink_local_position_ned_t localPosition{};
    mavlink_msg_local_position_ned_decode(&message, &localPosition);
 
    x()->setRawValue(localPosition.x);
    y()->setRawValue(localPosition.y);
    z()->setRawValue(localPosition.z);
 
    vx()->setRawValue(localPosition.vx);
    vy()->setRawValue(localPosition.vy);
    vz()->setRawValue(localPosition.vz);
 
    _setTelemetryAvailable(true);
}