void Button::DrawContent(sf::RenderWindow &in) const
{
sf::Text txt;
sf::Font Acent;
sf::Sprite pic;
int x;
int y;
int x2;
int y2;
getPosU(x, y);
getPosD(x2, y2);
x2 = in.getSize().x / 4;
//x2 -= 100;
Acent.loadFromFile("./Ressources/Acens.ttf");
if (_isTarget == true)
txt.setColor(sf::Color(205, 225, 0));
txt.setFont(Acent);
txt.setString(this->getContent());
txt.setPosition(_initX, _initY);
in.draw(txt);
if (this->getWin() != NULL)
if (this->getWin()->getType() == GAME)
{
if (this->getWin()->isGood() == true)
{
pic.setPosition(_initX, _initY + 50);
pic.setTexture(this->getWin()->getPic());
pic.setScale(0.10f, 0.15f);
in.draw(pic);
}
}
}
// Return the last calculated latitude, longitude and height of the body frame origin in WGS-84
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool NavEKF2_core::getLLH(struct Location &loc) const
{
const AP_GPS &gps = AP::gps();
Location origin;
float posD;
if(getPosD(posD) && getOriginLLH(origin)) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100;
loc.relative_alt = 0;
loc.terrain_alt = 0;
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
loc.lat = EKF_origin.lat;
loc.lng = EKF_origin.lng;
// correct for IMU offset (EKF calculations are at the IMU position)
loc.offset((outputDataNew.position.x + posOffsetNED.x), (outputDataNew.position.y + posOffsetNED.y));
return true;
} else {
// we could be in constant position mode because the vehicle has taken off without GPS, or has lost GPS
// in this mode we cannot use the EKF states to estimate position so will return the best available data
if ((gps.status() >= AP_GPS::GPS_OK_FIX_2D)) {
// we have a GPS position fix to return
const struct Location &gpsloc = gps.location();
loc.lat = gpsloc.lat;
loc.lng = gpsloc.lng;
return true;
} else {
// if no GPS fix, provide last known position before entering the mode
// correct for IMU offset (EKF calculations are at the IMU position)
loc.offset((lastKnownPositionNE.x + posOffsetNED.x), (lastKnownPositionNE.y + posOffsetNED.y));
return false;
}
}
} else {
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw
// GPS reading if available and return false
if ((gps.status() >= AP_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = gps.location();
loc = gpsloc;
loc.relative_alt = 0;
loc.terrain_alt = 0;
}
return false;
}
}
