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panels: add rate for relpos in RTK panel #53

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merged 1 commit into from
Sep 11, 2024
Merged

panels: add rate for relpos in RTK panel #53

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17 changes: 15 additions & 2 deletions dronecan_gui_tool/panels/RTK_panel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,10 @@ def __init__(self, parent, node):
it to get a global RTK fix.
''')

self.relpos_table = table_display.TableDisplay(['Node','RelHeading','Dist(m)', 'RelDown(m)'])
self.relpos_table = table_display.TableDisplay(['Node','RelHeading','Dist(m)','RelDown(m)','Rate(Hz)'])
self.relpos_last_time = {}
self.relpos_dt = {}

relpos_group = QGroupBox('RelPosHeading Status', self)
relpos_layout = QGridLayout()
relpos_layout.addWidget(self.relpos_table)
Expand Down Expand Up @@ -157,10 +160,20 @@ def handle_RTCM_Stream(self, msg):
def handle_RelPos(self, msg):
'''display RelPos data in table'''
nodeid = msg.transfer.source_node_id
tstamp = msg.transfer.ts_real
if nodeid not in self.relpos_last_time:
self.relpos_last_time[nodeid] = tstamp
self.relpos_dt[nodeid] = 0.2
dt = tstamp - self.relpos_last_time[nodeid]
self.relpos_dt[nodeid] = 0.9 * self.relpos_dt[nodeid] + 0.1 * dt
self.relpos_last_time[nodeid] = tstamp

rate_str = "%.1f" % (1.0 / self.relpos_dt[nodeid])
self.relpos_table.update(nodeid, [nodeid,
"%.1f" % msg.message.reported_heading_deg,
"%.2f" % msg.message.relative_distance_m,
"%.2f" % msg.message.relative_down_pos_m])
"%.2f" % msg.message.relative_down_pos_m,
rate_str])


def __del__(self):
Expand Down
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