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add "current_distance" from mavlink #9

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add "current_distance" from mavlink #9

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2 changes: 2 additions & 0 deletions TelemetryCore/src/main/cpp/SharedCppC/UAVTelemetryData.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,8 @@ typedef struct {
int DJI_linkQualityDown_P;
float DJI_Gimbal_Attitude_Yaw_Degree;

float Distance_m; // Current distance reading of the rangefinder

} UAVTelemetryData;


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6 changes: 6 additions & 0 deletions TelemetryCore/src/main/cpp/TelemetryReceiver/TelemetryReceiver.cpp
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Expand Up @@ -347,6 +347,12 @@ MTelemetryValue TelemetryReceiver::getTelemetryValue(TelemetryValueIndex index)
ret.metric=L"m";
}
break;
case DISTANCE:{
ret.prefix=L"Range";
ret.value= StringHelper::doubleToWString(uav_td.Distance_m, 5, 2);
ret.metric=L"m";
}
break;
case LONGITUDE:{
ret.prefix=L"Lon";
ret.prefixIcon=ICON_LONGITUDE;
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1 change: 1 addition & 0 deletions TelemetryCore/src/main/cpp/TelemetryReceiver/TelemetryReceiver.h
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Expand Up @@ -150,6 +150,7 @@ class TelemetryReceiver {
EZWB_RSSI_ADAPTER3,
//EZWB_RSSI_ADAPTER4,
//EZWB_RSSI_ADAPTER5,
DISTANCE,
XXX
};
MTelemetryValue getTelemetryValue(TelemetryValueIndex index) const ;
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4 changes: 4 additions & 0 deletions TelemetryCore/src/main/cpp/parser_c/mavlink2.c
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Expand Up @@ -81,6 +81,10 @@ void mavlink_read_v2(UAVTelemetryData *td,OriginData *originData,const uint8_t *
}
break;
}
case MAVLINK_MSG_ID_DISTANCE_SENSOR:{
td->Distance_m = mavlink_msg_distance_sensor_get_current_distance(&msg)/100.0f;
break;
}
default:
//__android_log_print(ANDROID_LOG_DEBUG,"Message:","%d",msg.msgid);
break;
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