VehicleWindFactGroup.cc

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#include "VehicleWindFactGroup.h"
#include "Vehicle.h"
 
#include <QtMath>
 
VehicleWindFactGroup::VehicleWindFactGroup(QObject *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/WindFact.json"), parent)
{
    _addFact(&_directionFact);
    _addFact(&_speedFact);
    _addFact(&_verticalSpeedFact);
 
    _directionFact.setRawValue(qQNaN());
    _speedFact.setRawValue(qQNaN());
    _verticalSpeedFact.setRawValue(qQNaN());
}
 
void VehicleWindFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    Q_UNUSED(vehicle);
 
    switch (message.msgid) {
    case MAVLINK_MSG_ID_WIND_COV:
        _handleWindCov(message);
        break;
    case MAVLINK_MSG_ID_HIGH_LATENCY:
        _handleHighLatency(message);
        break;
    case MAVLINK_MSG_ID_HIGH_LATENCY2:
        _handleHighLatency2(message);
        break;
#ifndef QGC_NO_ARDUPILOT_DIALECT
    case MAVLINK_MSG_ID_WIND:
        _handleWind(message);
        break;
#endif
    default:
        break;
    }
}
 
void VehicleWindFactGroup::_handleHighLatency(const mavlink_message_t &message)
{
    mavlink_high_latency_t highLatency{};
    mavlink_msg_high_latency_decode(&message, &highLatency);
 
    speed()->setRawValue(static_cast<double>(highLatency.airspeed) / 5.0);
 
    _setTelemetryAvailable(true);
}
 
void VehicleWindFactGroup::_handleHighLatency2(const mavlink_message_t &message)
{
    mavlink_high_latency2_t highLatency2{};
    mavlink_msg_high_latency2_decode(&message, &highLatency2);
 
    direction()->setRawValue(static_cast<double>(highLatency2.wind_heading) * 2.0);
    speed()->setRawValue(static_cast<double>(highLatency2.windspeed) / 5.0);
 
    _setTelemetryAvailable(true);
}
 
void VehicleWindFactGroup::_handleWindCov(const mavlink_message_t &message)
{
    mavlink_wind_cov_t wind{};
    mavlink_msg_wind_cov_decode(&message, &wind);
 
    float windDirection = qRadiansToDegrees(qAtan2(wind.wind_y, wind.wind_x));
    if (windDirection < 0) {
        windDirection += 360;
    }
    direction()->setRawValue(windDirection);
 
    const float windSpeed = qSqrt(qPow(wind.wind_x, 2) + qPow(wind.wind_y, 2));
    speed()->setRawValue(windSpeed);
 
    verticalSpeed()->setRawValue(wind.wind_z);
 
    _setTelemetryAvailable(true);
}
 
#ifndef QGC_NO_ARDUPILOT_DIALECT
void VehicleWindFactGroup::_handleWind(const mavlink_message_t &message)
{
    mavlink_wind_t wind{};
    mavlink_msg_wind_decode(&message, &wind);
 
    // We don't want negative wind angles
    float windDirection = wind.direction;
    if (windDirection < 0) {
        windDirection += 360;
    }
    direction()->setRawValue(windDirection);
    speed()->setRawValue(wind.speed);
    verticalSpeed()->setRawValue(wind.speed_z);
 
    _setTelemetryAvailable(true);
}
#endif