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ArduPlane: get airspeed from msg_vfr_hud instead of global_position_int #469

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ArduPlane: get airspeed from msg_vfr_hud instead of global_position_int #469

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28 changes: 0 additions & 28 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 @@ -4,8 +4,6 @@
import android.os.Handler;

import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.common.msg_global_position_int;
import com.MAVLink.common.msg_vfr_hud;
import com.MAVLink.enums.MAV_TYPE;
import com.github.zafarkhaja.semver.Version;
import com.o3dr.android.client.apis.CapabilityApi;
Expand Down Expand Up @@ -41,32 +39,6 @@ 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