Vehicle: Add RAW_IMU to displayable telemetry

src/Vehicle/Vehicle.cc

@@ -97,6 +97,7 @@ const char* Vehicle::_headingToHomeFactName =       "headingToHome";
 const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
 const char* Vehicle::_hobbsFactName =               "hobbs";
 const char* Vehicle::_throttlePctFactName =         "throttlePct";
+const char* Vehicle::_imuTempFactName =             "imuTemp";
 
 const char* Vehicle::_gpsFactGroupName =                "gps";
 const char* Vehicle::_gps2FactGroupName =               "gps2";
@@ -159,6 +160,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _distanceToGCSFact            (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact                    (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _throttlePctFact              (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
+    , _imuTempFact                  (0, _imuTempFactName,           FactMetaData::valueTypeInt16)
     , _gpsFactGroup                 (this)
     , _gps2FactGroup                (this)
     , _windFactGroup                (this)
@@ -315,6 +317,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _distanceToGCSFact                (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact                        (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _throttlePctFact                  (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
+    , _imuTempFact                      (0, _imuTempFactName,           FactMetaData::valueTypeInt16)
     , _gpsFactGroup                     (this)
     , _gps2FactGroup                    (this)
     , _windFactGroup                    (this)
@@ -441,6 +444,7 @@ void Vehicle::_commonInit()
     _addFact(&_headingToHomeFact,       _headingToHomeFactName);
     _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
     _addFact(&_throttlePctFact,         _throttlePctFactName);
+    _addFact(&_imuTempFact,             _imuTempFactName);
 
     _hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
     _addFact(&_hobbsFact,               _hobbsFactName);
@@ -694,7 +698,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         _handleSysStatus(message);
         break;
     case MAVLINK_MSG_ID_RAW_IMU:
-        emit mavlinkRawImu(message);
+        _handleRawImuTemp(message);
         break;
     case MAVLINK_MSG_ID_SCALED_IMU:
         emit mavlinkScaledImu1(message);
@@ -3802,6 +3806,17 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
     }
 }
 
+void Vehicle::_handleRawImuTemp(mavlink_message_t& message)
+{
+    // This is used by compass calibration
+    emit mavlinkRawImu(message);
+    
+    mavlink_raw_imu_t imuRaw;
+    mavlink_msg_raw_imu_decode(&message, &imuRaw);
+
+    _imuTempFact.setRawValue(imuRaw.temperature == 0 ? 0 : imuRaw.temperature * 0.01);
+}
+
 void Vehicle::_updateDistanceHeadingToHome()
 {
     if (coordinate().isValid() && homePosition().isValid()) {

src/Vehicle/Vehicle.h

@@ -308,6 +308,7 @@ public:
     Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
     Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
     Q_PROPERTY(Fact* throttlePct        READ throttlePct        CONSTANT)
+    Q_PROPERTY(Fact* imuTemp            READ imuTemp            CONSTANT)
 
     Q_PROPERTY(FactGroup*           gps             READ gpsFactGroup               CONSTANT)
     Q_PROPERTY(FactGroup*           gps2            READ gps2FactGroup              CONSTANT)
@@ -684,6 +685,7 @@ public:
     Fact* distanceToGCS                     () { return &_distanceToGCSFact; }
     Fact* hobbs                             () { return &_hobbsFact; }
     Fact* throttlePct                       () { return &_throttlePctFact; }
+    Fact* imuTemp                           () { return &_imuTempFact; }
 
     FactGroup* gpsFactGroup                 () { return &_gpsFactGroup; }
     FactGroup* gps2FactGroup                () { return &_gps2FactGroup; }
@@ -1054,6 +1056,7 @@ private:
 #endif
     void _handleCameraImageCaptured     (const mavlink_message_t& message);
     void _handleADSBVehicle             (const mavlink_message_t& message);
+    void _handleRawImuTemp              (mavlink_message_t& message);
     void _missionManagerError           (int errorCode, const QString& errorMsg);
     void _geoFenceManagerError          (int errorCode, const QString& errorMsg);
     void _rallyPointManagerError        (int errorCode, const QString& errorMsg);
@@ -1361,6 +1364,7 @@ private:
     Fact _distanceToGCSFact;
     Fact _hobbsFact;
     Fact _throttlePctFact;
+    Fact _imuTempFact;
 
     VehicleGPSFactGroup             _gpsFactGroup;
     VehicleGPS2FactGroup            _gps2FactGroup;
@@ -1415,6 +1419,7 @@ private:
     static const char* _distanceToGCSFactName;
     static const char* _hobbsFactName;
     static const char* _throttlePctFactName;
+    static const char* _imuTempFactName;
 
     static const char* _gpsFactGroupName;
     static const char* _gps2FactGroupName;

src/Vehicle/VehicleFact.json

@@ -136,6 +136,12 @@
     "shortDesc": "Throttle %",
     "type":             "uint16",
     "units":            "%"
+},
+{
+    "name":             "imuTemp",
+    "shortDesc": "Imu temperature",
+    "type":             "int16",
+    "units":            "°C"
 }
 ]
 }