VehicleVibrationFactGroup.cc

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#include "VehicleVibrationFactGroup.h"
 
#include "MAVLinkLib.h"
#include "Vehicle.h"
 
VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/VibrationFact.json"), parent)
{
    _addFact(&_xAxisFact);
    _addFact(&_yAxisFact);
    _addFact(&_zAxisFact);
    _addFact(&_clipCount1Fact);
    _addFact(&_clipCount2Fact);
    _addFact(&_clipCount3Fact);
 
    _xAxisFact.setRawValue(qQNaN());
    _yAxisFact.setRawValue(qQNaN());
    _zAxisFact.setRawValue(qQNaN());
}
 
void VehicleVibrationFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    Q_UNUSED(vehicle);
 
    if (message.msgid != MAVLINK_MSG_ID_VIBRATION) {
        return;
    }
 
    mavlink_vibration_t vibration{};
    mavlink_msg_vibration_decode(&message, &vibration);
 
    xAxis()->setRawValue(vibration.vibration_x);
    yAxis()->setRawValue(vibration.vibration_y);
    zAxis()->setRawValue(vibration.vibration_z);
    clipCount1()->setRawValue(vibration.clipping_0);
    clipCount2()->setRawValue(vibration.clipping_1);
    clipCount3()->setRawValue(vibration.clipping_2);
 
    _setTelemetryAvailable(true);
}