static int open(struct widget *w)
{
struct widget_priv *priv;
priv = (struct widget_priv*) widget_malloc(sizeof(struct widget_priv));
if (priv == NULL)
return -1;
w->priv = priv;
priv->home = get_home_data();
priv->stats = get_flight_stats();
if (w->cfg->props.mode & 1) {
w->ca.width = 84*2;
w->ca.height = 84*2;
} else {
w->ca.width = 84;
w->ca.height = 84;
}
add_mavlink_callback(MAVLINK_MSG_ID_VFR_HUD, mav_callback, CALLBACK_WIDGET, w);
add_mavlink_callback(MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, mav_callback_nav, CALLBACK_WIDGET, w);
add_mavlink_callback(MAVLINK_MSG_ID_MISSION_CURRENT, mav_callback_wp_seq, CALLBACK_WIDGET, w);
/* refresh rate of 0.2 sec */
add_timer(TIMER_WIDGET, 2, timer_callback, w);
return 0;
}
static int open(struct widget *w)
{
w->priv = (struct flight_stats*) get_flight_stats();
w->ca.width = 4*60;
w->ca.height = 12*8;
/* refresh rate of 0.2 sec */
add_timer(TIMER_WIDGET, 2, timer_callback, w);
return 0;
}
static void render(struct widget *w)
{
struct widget_priv *priv = w->priv;
struct canvas *ca = &w->ca;
struct home_data *home = get_home_data();
struct flight_stats *fstats = get_flight_stats();
mavlink_attitude_t *att = mavdata_get(MAVLINK_MSG_ID_ATTITUDE);
mavlink_vfr_hud_t *hud = mavdata_get(MAVLINK_MSG_ID_VFR_HUD);
unsigned long d = (unsigned long) home->distance;
unsigned int r = (w->ca.width/2)-2;
u8 i;
struct point ils_screen[5];
struct point ils_points[5] = { {-35, -100}, {-35, 100}, {0, 130}, {35, 100}, {35, -100} };
struct polygon ils = {
.len = 5,
.points = ils_points,
};
float x,y,z;
eye.x = 0; //X_SIZE/2;
eye.y = 0; //Y_SIZE/2;
eye.z = 10;
x = sin(DEG2RAD(home->direction)) * d;
z = cos(DEG2RAD(home->direction)) * d;
y = home->altitude;
ls.x = (s32) x;
ls.y = (s32) y;
ls.z = (s32) z;
if (ls.z <= 0)
return;
//ls.x = XX;
//ls.y = YY;
//ls.z = ZZ;
eye.z = ZZ;
p.x = (eye.z * (ls.x-eye.x)) / (eye.z + ls.z) + eye.x;
p.y = (eye.z * (ls.y-eye.y)) / (eye.z + ls.z) + eye.y;
draw_circle(X_SIZE/2 + p.x, Y_SIZE/2 + p.y, 5, 1, ca);
transform_polygon(&ils, x, z, - (fstats->launch_heading - hud->heading));
for (i = 0; i < 5; i++) {
ils_screen[i].x = (eye.z * (ils_points[i].x-eye.x)) / (eye.z + ils_points[i].y) + eye.x;
ils_screen[i].y = (eye.z * (ls.y-eye.y)) / (eye.z + ils_points[i].y) + eye.y;
}
ils.points = ils_screen;
transform_polygon(&ils, X_SIZE/2, Y_SIZE/2, 0);
draw_polygon(&ils, 1, ca);
}
const struct widget_ops ils_widget_ops = {
.name = "Imaginary LS",
.mavname = "ILS",
.id = WIDGET_ILS_ID,
.init = NULL,
.open = open,
.render = render,
.close = NULL,
};
