Added debug output for QMapControl library, added GPS_RAW_INT message

lib/QMapControl/src/mapnetwork.cpp

@@ -63,10 +63,10 @@ namespace qmapcontrol
     void MapNetwork::requestFinished(int id, bool error)
     {
         // sleep(1);
-        // qDebug() << "MapNetwork::requestFinished" << http->state() << ", id: " << id;
+        qDebug() << "QMapControl: MapNetwork::requestFinished" << http->state() << ", id: " << id;
         if (error)
         {
-            qDebug() << "network error: " << http->errorString();
+            qDebug() << "QMapControl: network error: " << http->errorString();
             //restart query
 
         }
@@ -79,7 +79,7 @@ namespace qmapcontrol
                 QString url = loadingMap[id];
                 loadingMap.remove(id);
                 vectorMutex.unlock();
-                // qDebug() << "request finished for id: " << id << ", belongs to: " << notifier.url << endl;
+                //qDebug() << "QMapControl: request finished for id: " << id << ", belongs to: " << notifier.url << endl;
                 QByteArray ax;
 
                 if (http->bytesAvailable()>0)
@@ -87,17 +87,20 @@ namespace qmapcontrol
                     QPixmap pm;
                     ax = http->readAll();
 
+                    qDebug() << "QMapControl: Request consisted of " << ax.size() << "bytes";
+
                     if (pm.loadFromData(ax))
                     {
                         loaded += pm.size().width()*pm.size().height()*pm.depth()/8/1024;
-                        // qDebug() << "Network loaded: " << (loaded);
+                        qDebug() << "QMapControl: Network loaded: " << (loaded);
                         parent->receivedImage(pm, url);
                     }
                     else if (pm.width() == 0 || pm.height() == 0)
                     {
                         // Silently ignore map request for a
                         // 0xn pixel map
-
+                        qDebug() << "QMapControl: IGNORED 0x0 pixel map request, widthxheight:" << pm.width() << "x" << pm.height();
+                        qDebug() << "QMapControl: HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
                     }
                     else
                     {
@@ -105,7 +108,7 @@ namespace qmapcontrol
                         // TODO Error is currently undetected
                         //qDebug() << "NETWORK_PIXMAP_ERROR: " << ax;
                         qDebug() << "QMapControl external library: ERROR loading map:" << "width:" << pm.width() << "heigh:" << pm.height() << "at " << __FILE__ << __LINE__;
-                        //qDebug() << "HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
+                        qDebug() << "QMapControl: HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
                     }
                 }
 

src/uas/UAS.cc

@@ -628,6 +628,46 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
             }
             break;
+        case MAVLINK_MSG_ID_GPS_RAW_INT:
+            {
+                mavlink_gps_raw_int_t pos;
+                mavlink_msg_gps_raw_int_decode(&message, &pos);
+
+                // SANITY CHECK
+                // only accept values in a realistic range
+                // quint64 time = getUnixTime(pos.usec);
+                quint64 time = getUnixTime();
+
+                emit valueChanged(uasId, "latitude", "deg", pos.lat/(double)1E7, time);
+                emit valueChanged(uasId, "longitude", "deg", pos.lon/(double)1E7, time);
+
+                if (pos.fix_type > 0)
+                {
+                    emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
+                    emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
+
+                    // Check for NaN
+                    int alt = pos.alt;
+                    if (alt != alt)
+                    {
+                        alt = 0;
+                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
+                    }
+                    emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E7, time);
+                    // Smaller than threshold and not NaN
+                    if (pos.v < 1000000 && pos.v == pos.v)
+                    {
+                        emit valueChanged(uasId, "speed", "m/s", pos.v, time);
+                        //qDebug() << "GOT GPS RAW";
+                       // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
+                    }
+                    else
+                    {
+                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                    }
+                }
+            }
+            break;
         case MAVLINK_MSG_ID_GPS_STATUS:
             {
                 mavlink_gps_status_t pos;