Merge pull request #8254 from mavlink/pr-odometer

Update flight distance

src/Vehicle/TrajectoryPoints.cc

@@ -23,7 +23,10 @@ void TrajectoryPoints::_vehicleCoordinateChanged(QGeoCoordinate coordinate)
     // Fewer points means higher performance of map display.
 
     if (_lastPoint.isValid()) {
-        if (_lastPoint.distanceTo(coordinate) > _distanceTolerance) {
+        double distance = _lastPoint.distanceTo(coordinate);
+        if (distance > _distanceTolerance) {
+            //-- Update flight distance
+            _vehicle->updateFlightDistance(distance);
             // Vehicle has moved far enough from previous point for an update
             double newAzimuth = _lastPoint.azimuthTo(coordinate);
             if (qIsNaN(_lastAzimuth) || qAbs(newAzimuth - _lastAzimuth) > _azimuthTolerance) {

src/Vehicle/Vehicle.cc

@@ -4244,6 +4244,11 @@ void Vehicle::_handleObstacleDistance(const mavlink_message_t& message)
     _objectAvoidance->update(&o);
 }
 
+void Vehicle::updateFlightDistance(double distance)
+{
+    _flightDistanceFact.setRawValue(_flightDistanceFact.rawValue().toDouble() + distance);
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -805,6 +805,8 @@ public:
         JoystickModeMax
     } JoystickMode_t;
 
+    void updateFlightDistance(double distance);
+
     int joystickMode(void);
     void setJoystickMode(int mode);