static void mav_callback(mavlink_message_t *msg, mavlink_status_t *status, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
float altitude;
switch (w->cfg->props.mode) {
case 0:
default:
altitude = mavlink_msg_gps_raw_int_get_alt(msg) / 1000.0;
break;
case 1:
if (priv->home->lock == HOME_LOCKED)
altitude = (long) priv->home->altitude;
else
altitude = 0;
break;
}
if (get_units(w->cfg) == UNITS_IMPERIAL)
altitude *= M2FEET;
priv->altitude = (long) altitude;
schedule_widget(w);
}
static struct widget* load_widget(struct widget_config *w_cfg)
{
const struct widget_ops *w_ops;
struct widget *w;
w_ops = get_widget_ops(w_cfg->widget_id);
if (w_ops == NULL)
return NULL;
w = (struct widget*) widget_malloc(sizeof(struct widget));
if (w == NULL) {
DTABS("load_tab: no mem for widget %d exiting load tabs\n", w_cfg->widget_id);
return NULL;
}
w->ops = w_ops;
w->cfg = w_cfg;
w->status = 0;
if (w_ops->open(w))
return NULL;
alloc_canvas(&w->ca, w->cfg);
schedule_widget(w);
return w;
}
static void timer_callback(struct timer *t, void *d)
{
struct widget *w = (struct widget*) d;
struct widget_priv *priv = (struct widget_priv*) w->priv;
priv->bat_voltage = *(priv->adc_raw) * 18.3 / (1 << 10);
priv->bat_voltage2 = *(priv->adc_raw2) * 18.3 / (1 << 10);
schedule_widget(w);
}
static void mav_callback_wind(mavlink_message_t *msg, mavlink_status_t *status, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
priv->direction = mavlink_msg_wind_get_direction(msg);
priv->speed = mavlink_msg_wind_get_speed(msg);
priv->speed_z = mavlink_msg_wind_get_speed_z(msg);
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, mavlink_status_t *status, void *data)
{
struct widget *w = (struct widget*) data;
struct widget_priv *priv = (struct widget_priv*) w->priv;
priv->speed = mavlink_msg_vfr_hud_get_airspeed(msg) * 3600 / 1000.0;
priv->speed_i = (int) priv->speed;
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, mavlink_status_t *status, void *data)
{
struct widget *w = (struct widget*) data;
struct widget_priv *priv = (struct widget_priv*) w->priv;
priv->bat_voltage = mavlink_msg_sys_status_get_voltage_battery(msg) / 1000.0;
priv->bat_current = mavlink_msg_sys_status_get_current_battery(msg) / 100.0;
priv->bat_remaining = (int) mavlink_msg_sys_status_get_battery_remaining(msg);
schedule_widget(w);
}
static void pre_render(struct timer *t, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
mavlink_attitude_t *att = mavdata_get(MAVLINK_MSG_ID_ATTITUDE);
mavlink_vfr_hud_t *hud = mavdata_get(MAVLINK_MSG_ID_VFR_HUD);
schedule_widget(w);
}
static void mav_callback2(mavlink_message_t *msg, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
priv->gps_lat = mavlink_msg_gps2_raw_get_lat(msg) / 10000000.0;
priv->gps_lon = mavlink_msg_gps2_raw_get_lon(msg) / 10000000.0;
priv->gps_fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
priv->gps_nrsats = mavlink_msg_gps2_raw_get_satellites_visible(msg);
priv->gps_eph = (float) mavlink_msg_gps2_raw_get_eph(msg) / 100.0;
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
priv->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
if (priv->custom_mode == priv->prev_custom_mode)
return;
priv->mav_type = mavlink_msg_heartbeat_get_type(msg);
priv->prev_custom_mode = priv->custom_mode;
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, mavlink_status_t *status, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
priv->pitch = mavlink_msg_attitude_get_pitch(msg);
priv->pitch_deg = RAD2DEG(priv->pitch * SCALE);
priv->roll = mavlink_msg_attitude_get_roll(msg);
priv->roll_deg = RAD2DEG(priv->roll);
priv->cos_roll = cos(priv->roll);
priv->sin_roll = -1 * sin(priv->roll);
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, mavlink_status_t *status, void *data)
{
struct widget *w = (struct widget*) data;
struct widget_priv *priv = (struct widget_priv*) w->priv;
priv->ch_raw[0] = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
priv->ch_raw[1] = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
priv->ch_raw[2] = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
priv->ch_raw[3] = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
priv->ch_raw[4] = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
priv->ch_raw[5] = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
priv->ch_raw[6] = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
priv->ch_raw[7] = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
schedule_widget(w);
}
static void mav_callback(mavlink_message_t *msg, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
unsigned char i;
if (msg->msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW) {
priv->total_ch = 8;
} else {
priv->total_ch = mavlink_msg_rc_channels_get_chancount(msg);
}
for (i = 0; i < priv->total_ch; i++)
priv->ch_raw[i] = mavlink_msg_rc_channels_raw_get_chan(msg, i);
schedule_widget(w);
}
static void render_timer(struct timer *t, void *d)
{
struct widget *w = d;
struct widget_priv *priv = w->priv;
mavlink_vfr_hud_t *vfr_hud = mavdata_get(MAVLINK_MSG_ID_VFR_HUD);
/* sources:
0) airspeed
1) groundspeed */
switch (w->cfg->props.source) {
case 0:
default:
priv->speed = vfr_hud->airspeed;
break;
case 1:
priv->speed = vfr_hud->groundspeed;
break;
}
schedule_widget(w);
}
static void timer_callback(struct timer *t, void *d)
{
struct widget *w = (struct widget*) d;
schedule_widget(w);
}
static void render_timer(struct timer *t, void *d)
{
struct widget *w = d;
schedule_widget(w);
}
