VehicleRPMFactGroup.cc

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#include "VehicleRPMFactGroup.h"
 
#include "MAVLinkLib.h"
#include "Vehicle.h"
 
VehicleRPMFactGroup::VehicleRPMFactGroup(QObject *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/RPMFact.json"), parent)
{
    _addFact(&_rpm1Fact);
    _addFact(&_rpm2Fact);
    _addFact(&_rpm3Fact);
    _addFact(&_rpm4Fact);
    _addFact(&_rpmSensor1Fact);
    _addFact(&_rpmSensor2Fact);
 
    _rpm1Fact.setRawValue(qQNaN());
    _rpm2Fact.setRawValue(qQNaN());
    _rpm3Fact.setRawValue(qQNaN());
    _rpm4Fact.setRawValue(qQNaN());
    _rpmSensor1Fact.setRawValue(qQNaN());
    _rpmSensor2Fact.setRawValue(qQNaN());
}
 
void VehicleRPMFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    Q_UNUSED(vehicle);
 
    switch (message.msgid) {
        case MAVLINK_MSG_ID_RAW_RPM:
            _handleRawRPM(message);
            break;
        case MAVLINK_MSG_ID_RPM:
            _handleRPMSensor(message);
            break;
        default:
            break;
    }
}
 
void VehicleRPMFactGroup::_handleRawRPM(const mavlink_message_t &message)
{
    mavlink_raw_rpm_t raw_rpm{};
    mavlink_msg_raw_rpm_decode(&message, &raw_rpm);
    switch (raw_rpm.index) {
        case 0:
            rpm1()->setRawValue(raw_rpm.frequency);
            break;
        case 1:
            rpm2()->setRawValue(raw_rpm.frequency);
            break;
        case 2:
            rpm3()->setRawValue(raw_rpm.frequency);
            break;
        case 3:
            rpm4()->setRawValue(raw_rpm.frequency);
            break;
        default:
            break;
    }
 
    _setTelemetryAvailable(true);
}
 
void VehicleRPMFactGroup::_handleRPMSensor(const mavlink_message_t &message)
{
    mavlink_rpm_t rpm{};
    mavlink_msg_rpm_decode(&message, &rpm);
 
    _rpmSensor1Fact.setRawValue(rpm.rpm1);
    _rpmSensor2Fact.setRawValue(rpm.rpm2);
 
    _setTelemetryAvailable(true);
}