0.2 version add desktop components multitouch, joystick, multicast

[mardrone] / mardrone / dronelib / navdata.h

diff --git a/mardrone/dronelib/navdata.h b/mardrone/dronelib/navdata.h
new file mode 100644 (file)
index 0000000..f46ed61
--- /dev/null
+++ b/mardrone/dronelib/navdata.h
@@ -0,0 +1,54 @@
+#ifndef NAVDATA_H
+#define NAVDATA_H
+
+#include <QObject>
+#undef _GNU_SOURCE // just get rid of error message double definition
+#include <navdata_common.h>
+#include "config.h"
+
+struct tag_t {
+    unsigned int type;
+    unsigned int xc;
+    unsigned int yc;
+    unsigned int width;
+    unsigned int height;
+    unsigned int dist;
+};
+
+class NavData : public QObject
+{
+    Q_OBJECT
+public:
+    explicit NavData(QObject *parent = 0);
+    void parseRawNavData(char *buf,unsigned int len);
+    void parseOption(navdata_option_t *op);
+    QString decodeState(unsigned int state,int level);
+
+    unsigned int state,oldState;
+    QString decodedState;
+    float vbat;
+    float pitch;
+    float roll;
+    float yaw;
+    float altitude;
+    float vx;
+    float vy;
+    float vf;
+    float vz;
+    float current_motor1;
+    float current_motor2;
+    float current_motor3;
+    float current_motor4;
+    int pwm_motor1;
+    int pwm_motor2;
+    int pwm_motor3;
+    int pwm_motor4;
+    tag_t tags[4];
+signals:
+    void navDataUpdated();
+    void stateUpdated();
+public slots:
+
+};
+
+#endif // NAVDATA_H