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Use GLOBAL_POSITION_INT instead of VFR_HUD to set altitude and speeds… #489

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Use GLOBAL_POSITION_INT instead of VFR_HUD to set altitude and speeds… #489

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25 changes: 18 additions & 7 deletions .../main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import com.MAVLink.ardupilotmega.msg_mount_configure;
import com.MAVLink.ardupilotmega.msg_mount_status;
import com.MAVLink.ardupilotmega.msg_radio;
import com.MAVLink.common.msg_global_position_int;
import com.MAVLink.common.msg_named_value_int;
import com.MAVLink.common.msg_raw_imu;
import com.MAVLink.common.msg_rc_channels_raw;
Expand Down Expand Up @@ -416,10 +417,6 @@ public void onMavLinkMessageReceived(MAVLinkMessage message) {
processStatusText(msg_statustext);
break;

case msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD:
processVfrHud((msg_vfr_hud) message);
break;

case msg_raw_imu.MAVLINK_MSG_ID_RAW_IMU:
msg_raw_imu msg_imu = (msg_raw_imu) message;
mag.newData(msg_imu);
Expand Down Expand Up @@ -511,11 +508,25 @@ private void checkControlSensorsHealth(msg_sys_status sysStatus) {
}
}

protected void processVfrHud(msg_vfr_hud vfrHud) {
if (vfrHud == null)
/**
* Used to update the vehicle location, and altitude.
* @param gpi
*/
@Override
protected void processGlobalPositionInt(msg_global_position_int gpi) {
if(gpi == null)
return;

setAltitudeGroundAndAirSpeeds(vfrHud.alt, vfrHud.groundspeed, vfrHud.airspeed, vfrHud.climb);
super.processGlobalPositionInt(gpi);

final double relativeAlt = gpi.relative_alt / 1000.0;

final double groundSpeedX = gpi.vx / 100.0;
final double groundSpeedY = gpi.vy / 100.0;
final double groundSpeed = Math.sqrt(Math.pow(groundSpeedX, 2) + Math.pow(groundSpeedY, 2));

final double climbRate = gpi.vz / 100.0;
setAltitudeGroundAndAirSpeeds(relativeAlt, groundSpeed, groundSpeed, climbRate);
}

protected void processMountStatus(msg_mount_status mountStatus) {
Expand Down
26 changes: 0 additions & 26 deletions .../main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPlane.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,32 +41,6 @@ public FirmwareType getFirmwareType() {
return FirmwareType.ARDU_PLANE;
}

@Override
protected void processVfrHud(msg_vfr_hud vfrHud){
//Nothing to do. Plane used GLOBAL_POSITION_INT to set altitude and speeds unlike copter
}

/**
* Used to update the vehicle location, and altitude.
* @param gpi
*/
@Override
protected void processGlobalPositionInt(msg_global_position_int gpi){
if(gpi == null)
return;

super.processGlobalPositionInt(gpi);

final double relativeAlt = gpi.relative_alt / 1000.0;

final double groundSpeedX = gpi.vx / 100.0;
final double groundSpeedY = gpi.vy / 100.0;
final double groundSpeed = Math.sqrt(Math.pow(groundSpeedX, 2) + Math.pow(groundSpeedY, 2));

final double climbRate = gpi.vz / 100.0;
setAltitudeGroundAndAirSpeeds(relativeAlt, groundSpeed, groundSpeed, climbRate);
}

@Override
protected boolean isFeatureSupported(String featureId){
switch(featureId){
Expand Down