ControlTower android - corrected setting of yaw and rotation speed parameters.

controltower-android/src/com/codeminders/ardrone/MainActivity.java

@@ -4,6 +4,7 @@ package com.codeminders.ardrone;
 
 import java.io.IOException;
 import java.net.InetAddress;
+import java.text.DecimalFormat;
 import java.util.HashMap;
 import java.util.Iterator;
 
@@ -255,15 +256,6 @@ public class MainActivity extends Activity implements DroneVideoListener, OnShar
             btnTakeOffOrLand.setEnabled(true);
             btnTakeOffOrLand.setOnClickListener(new View.OnClickListener()  {
                 public void onClick(View v) {
-                    try
-                    {
-                        drone.clearEmergencySignal();
-                        drone.trim(); 
-                    } catch(Throwable e)
-                    {
-                        Log.e(TAG, "Faliled init drone" , e);
-                    }
-        
                     if (btnTakeOffOrLand.getText().equals(getString(R.string.btn_land))) {
                         try
                         {
@@ -277,6 +269,8 @@ public class MainActivity extends Activity implements DroneVideoListener, OnShar
                     } else  {                        
                         try
                         {
+                            drone.clearEmergencySignal();
+                            drone.trim(); 
                             drone.takeOff();
                         } catch(Throwable e)
                         {
@@ -411,6 +405,7 @@ private class DroneStarter extends AsyncTask<ARDrone, Integer, Boolean> {
             MainActivity.drone = drone;
             drone.connect();
             drone.clearEmergencySignal();
+            drone.trim();
             drone.waitForReady(CONNECTION_TIMEOUT);
             drone.playLED(1, 10, 4);
             drone.selectVideoChannel(ARDrone.VideoChannel.HORIZONTAL_ONLY);
@@ -468,6 +463,7 @@ private class DroneStarter extends AsyncTask<ARDrone, Integer, Boolean> {
     public static String DRONE_MAX_VERT_SPEED_PARAM_NAME = "control:control_vz_max";
     public static String DRONE_MAX_EULA_ANGLE = "control:euler_angle_max";
     public static String DRONE_MAX_ALTITUDE = "control:altitude_max";
+    DecimalFormat twoDForm = new DecimalFormat("#.##");
 
     private void loadDroneSettingsFromPref() {
             droneLoadMaxAltitude();
@@ -479,7 +475,7 @@ private class DroneStarter extends AsyncTask<ARDrone, Integer, Boolean> {
             
     private void drobeLoadMaxRotationSpeed() {
         if (null != drone && prefs.contains(PREF_MAX_ROTATION_SPEED)) {
-            setDroneParam(DRONE_MAX_YAW_PARAM_NAME, String.valueOf(prefs.getFloat(PREF_MAX_ROTATION_SPEED, 50f) * Math.PI / 180f));
+            setDroneParam(DRONE_MAX_YAW_PARAM_NAME, twoDForm.format(prefs.getFloat(PREF_MAX_ROTATION_SPEED, 50f) * Math.PI / 180f).replace(',', '.'));
         } 
     }
 
@@ -498,7 +494,7 @@ private class DroneStarter extends AsyncTask<ARDrone, Integer, Boolean> {
 
     private void droneLoadMaxAngle() {
         if (null != drone && prefs.contains(PREF_MAX_ANGLE)) {
-            setDroneParam(DRONE_MAX_EULA_ANGLE, String.valueOf(prefs.getFloat(PREF_MAX_ANGLE, 6f) * Math.PI / 180f));
+            setDroneParam(DRONE_MAX_EULA_ANGLE, twoDForm.format(prefs.getFloat(PREF_MAX_ANGLE, 6f) * Math.PI / 180f).replace(',', '.'));
         } 
     }
 
@@ -514,6 +510,7 @@ private class DroneStarter extends AsyncTask<ARDrone, Integer, Boolean> {
             public void run() {
                 try {
                     drone.setConfigOption(name, value);
+                    Log.d(TAG, "Drone parameter (" + name + ") is SET to value: " + value);
                 } catch (IOException ex) {
                     Log.e(TAG, "Failed to set drone parameter (" + name + ") to value: " + value , ex);
                 }

javadrone-api/src/main/java/com/codeminders/ardrone/ARDrone.java

@@ -127,13 +127,12 @@ public class ARDrone
     private List<DroneVideoListener>        image_listeners   = new LinkedList<DroneVideoListener>();
     private List<NavDataListener>           navdata_listeners = new LinkedList<NavDataListener>();
 
-    private static int                      navDataReconnectTimeout = 1000; // 1 second
-
-    private static int                      videoReconnectTimeout   = 1000; // 1 second
+    private int                             navDataReconnectTimeout = 1000; // 1 second
+    private int                             videoReconnectTimeout   = 1000; // 1 second
 
     public ARDrone() throws UnknownHostException
     {
-        this(InetAddress.getByAddress(DEFAULT_DRONE_IP), navDataReconnectTimeout, videoReconnectTimeout);
+        this(InetAddress.getByAddress(DEFAULT_DRONE_IP), 1000, 1000);
     }
 
     public ARDrone(InetAddress drone_addr, int navDataReconnectTimeout, int videoReconnectTimeout)

javadrone-api/src/main/java/com/codeminders/ardrone/DataProcessor.java

@@ -70,10 +70,10 @@ public abstract class DataProcessor extends Thread {
             nextBuffer.put(infBuffer);
             nextBuffer.flip();
             nextDataBufferLength = len;
+            nextEmpty = false;
         }
         
         synchronized (lock) {
-            nextEmpty = false;
             lock.notify(); 
         }
     }

javadrone-api/src/main/java/com/codeminders/ardrone/DataReader.java

@@ -66,7 +66,7 @@ public abstract class DataReader implements Runnable {
                 selector.close();
         } catch (IOException iox) 
         {
-            iox.printStackTrace();
+            // ignore
         }
         
         if (!channel.socket().isClosed()) {
@@ -78,13 +78,13 @@ public abstract class DataReader implements Runnable {
                 channel.disconnect();
         } catch (IOException iox) 
         {
-            iox.printStackTrace();
+           // ignore
         }
         
         try {
             channel.close();
         } catch (IOException iox) {
-            iox.printStackTrace();
+            // ignore
         }
         
     }
@@ -114,8 +114,8 @@ public abstract class DataReader implements Runnable {
                     disconnect();
                     break;
                 }
-                Set readyKeys = selector.selectedKeys();
-                Iterator iterator = readyKeys.iterator();
+                Set<SelectionKey> readyKeys = selector.selectedKeys();
+                Iterator<SelectionKey> iterator = readyKeys.iterator();
                 
                 if (!iterator.hasNext()) {
                     if (timeOfLastMessage > 0 && System.currentTimeMillis() - timeOfLastMessage > reconnect_timeout ) {