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Show topbar icons for 2 Gps systems, display yaw if available #2909

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merged 2 commits into from
Sep 19, 2024
Merged

Show topbar icons for 2 Gps systems, display yaw if available #2909

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3e93bfb
frontend: display topbar icons for up to 2 GPSs
Williangalvani Sep 19, 2024
c3f520f
frontend: show GPS yaw on GPS icons yaw when it is available
Williangalvani Sep 19, 2024
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3 changes: 2 additions & 1 deletion core/frontend/src/App.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,8 @@
<v-spacer />
<beacon-tray-menu />
<health-tray-menu />
<gps-tray-menu />
<gps-tray-menu :instance="1" />
<gps-tray-menu :instance="2" />
<theme-tray-menu />
<system-checker-tray-menu />
<vehicle-reboot-required-tray-menu />
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27 changes: 24 additions & 3 deletions core/frontend/src/components/health/GpsTrayMenu.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -82,11 +82,21 @@ import Vue from 'vue'

import mavlink2rest from '@/libs/MAVLink2Rest'
import { GpsFixType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
import { GlobalPositionInt, GpsRawInt } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-message'
import {
GlobalPositionInt,
Gps2Raw,
GpsRawInt,
} from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-message'
import autopilot_data from '@/store/autopilot'

export default Vue.extend({
name: 'GpsTrayMenu',
props: {
instance: {
type: Number,
required: true,
},
},
data() {
return {
mouse_hover: false,
Expand Down Expand Up @@ -174,6 +184,16 @@ export default Vue.extend({
},
)
}
if (this.gps_raw_int?.yaw !== 0) {
values.push(
{
name: 'Yaw',
value: `${(this.gps_raw_int.yaw / 100).toFixed(2)}º`,
tooltip: 'Yaw',
icon: 'mdi-compass',
},
)
}

return values
},
Expand Down Expand Up @@ -255,13 +275,14 @@ export default Vue.extend({
this.global_position_int = message?.message as GlobalPositionInt
}).setFrequency(0)

mavlink2rest.startListening('GPS_RAW_INT').setCallback((message) => {
const message_name = this.instance === 1 ? 'GPS_RAW_INT' : 'GPS2_RAW'
mavlink2rest.startListening(message_name).setCallback((message) => {
if (message?.header.system_id !== autopilot_data.system_id || message?.header.component_id !== 1) {
return
}

this.last_message_date = new Date()
this.gps_raw_int = message?.message as GpsRawInt
this.gps_raw_int = message?.message as GpsRawInt | Gps2Raw
this.gps_detected = this.gps_raw_int?.fix_type?.type !== GpsFixType.GPS_FIX_TYPE_NO_GPS
}).setFrequency(0)
},
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