wellton/rosettadrone
1
0
Fork 0
Código Issues Pull Requests Ações Pacotes Projetos Versões Wiki Atividade

Added new takeoff function using timelineing, not fully tested.

Ver Código-Fonte
Esse commit está contido em:
The1only
2020-11-11 11:12:02 +01:00
pai 6c1f749f1f
commit 5f353ab97e
3 arquivos alterados com 61 adições e 15 exclusões
Baixar Arquivo de Patch Baixar Arquivo de Diff Expandir todos os arquivos Colapsar todos os arquivos
app/src/main/AndroidManifest.xml
+5
Ver Arquivo
@@ -84,6 +84,11 @@
android:label="Settings">
</activity>
<activity android:name="sq.rogue.rosettadrone.settings.AiActivity"
android:theme="@style/AppTheme.Settings"
android:label="Settings">
</activity>
<activity android:name="sq.rogue.rosettadrone.settings.MapActivity"
android:theme="@style/AppTheme.Settings"
android:label="Settings">
app/src/main/java/sq/rogue/rosettadrone/MAVLinkReceiver.java
+47 -8
Ver Arquivo
@@ -65,6 +65,7 @@ import static com.MAVLink.enums.MAV_CMD.MAV_CMD_DO_SET_SERVO;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_GET_HOME_POSITION;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_MISSION_START;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_CONDITION_YAW;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_DO_SET_PARAMETER;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LAND;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LOITER_UNLIM;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH;
@@ -79,6 +80,7 @@ import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MAX_ALTITUDE;
import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MAX_SPEED;
import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MIN_ALTITUDE;
import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MIN_SPEED;
import static com.MAVLink.enums.MAV_CMD.MAV_CMD_DO_JUMP;
import static sq.rogue.rosettadrone.util.safeSleep;
@@ -112,13 +114,14 @@ public class MAVLinkReceiver {
public void process(MAVLinkMessage msg) {
// IS 0 is hart beat...
if(msg.msgid != 0) {
Log.d(TAG, msg.toString());
parent.logMessageDJI("Message: " + msg);
// parent.logMessageDJI(String.valueOf(msg));
// parent.logMessageDJI(String.valueOf(msg.msgid));
}
// parent.logMessageDJI("Message: " + msg);
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
@@ -154,27 +157,47 @@ public class MAVLinkReceiver {
case MAV_CMD_NAV_TAKEOFF:
Log.d(TAG,"ALT = " + msg_cmd.param7);
mModel.mAirBorn = 0;
mModel.do_takeoff();
mModel.do_takeoff( msg_cmd.param7 * (double)1000.0);
/*
// Wait for command to be executed...
while( mModel.mAirBorn == 0)
safeSleep(250);
Log.d(TAG,"Wait for takeoff...");
if(mModel.mAirBorn == 1) {
Log.d(TAG,"Takeoff failed...");
mModel.send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_FAILED);
}
else {
else{
mModel.send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_IN_PROGRESS);
Log.d(TAG,"Takeoff succes...");
int timeout = 0;
// If we took off, wait for command co complete...
while (mModel.m_alt < 1000.0 || timeout > (20*(1/0.250))) {
timeout+= 1;
safeSleep(250);
Log.d(TAG,"Wait for first altitude...");
}
safeSleep(500);
timeout = 0;
// If we are airborne, or was airborne from the start...
if (mModel.m_alt >= 0.8) {
mModel.do_set_motion_relative(MAV_CMD_NAV_TAKEOFF, 0, 0, msg_cmd.param7-(mModel.m_alt/(float)1000.0), 0, 0, 0, 0, 0, 0b00011111111000);
if (mModel.m_alt >= 800) {
float desired_alt = (msg_cmd.param7*(float)1000.0) - mModel.m_alt;
// Climb out to 99% of requested altitude, however 100% is set, just to avoid deadlock...
while (mModel.m_alt < desired_alt*0.98 || timeout > (30*(1/0.250))){
mModel.do_set_motion_relative(MAV_CMD_NAV_TAKEOFF, 0, 0, msg_cmd.param7 - (mModel.m_alt / (float) 1000.0), 0, 0, 0, 0, 0, 0b00011111111000);
timeout+= 1;
safeSleep(250);
Log.d(TAG, "Climb out..."+mModel.m_alt);
}
Log.d(TAG, "Climb out completed..."+mModel.m_alt);
}else{
Log.d(TAG, "Climb out failed...");
}
}
*/
break;
case MAV_CMD_NAV_LAND:
mModel.do_land();
@@ -187,6 +210,7 @@ public class MAVLinkReceiver {
// TODO;
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
Log.d(TAG, "MAV_CMD_NAV_RETURN_TO_LAUNCH...");
mModel.do_go_home();
mModel.send_command_ack(MAV_CMD_NAV_RETURN_TO_LAUNCH, MAV_RESULT.MAV_RESULT_ACCEPTED);
break;
@@ -212,8 +236,10 @@ public class MAVLinkReceiver {
case MAV_CMD_CONDITION_YAW:
parent.logMessageDJI("Yaw = " + msg_cmd.param1);
// If absolut yaw...
// If absolute yaw...
if( msg_cmd.param4 == 0) {
mModel.send_command_ack(MAV_CMD_CONDITION_YAW, MAV_RESULT.MAV_RESULT_IN_PROGRESS);
mModel.do_set_motion_absolute(
0,
0,
@@ -225,12 +251,20 @@ public class MAVLinkReceiver {
10,
0b1111001111111111);
}
else{
mModel.send_command_ack(MAV_CMD_CONDITION_YAW, MAV_RESULT.MAV_RESULT_UNSUPPORTED);
}
break;
case MAV_CMD_DO_SET_SERVO:
mModel.do_set_Gimbal(msg_cmd.param1, msg_cmd.param2);
break;
// JUMP is just a test function to enter the Timeline...
case MAV_CMD_DO_JUMP:
Log.d(TAG, "Start Timeline...");
mModel.echoLoadedMission();
break;
}
break;
@@ -253,7 +287,9 @@ public class MAVLinkReceiver {
if ( ((msg_param.type_mask & 0b0000100000000111) == 0x007) ){ // If no move and we use yaw rate...
mModel.mAutonomy = false; // Velocity must halt autonomy (as Autonomy tries to reach a point, whule veliciity tries to set a speed)
mModel.do_set_motion_velocity(msg_param.vx, msg_param.vy, msg_param.vz, (float)Math.toDegrees(msg_param.yaw_rate), msg_param.type_mask);
mModel.send_command_ack(MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, MAV_RESULT.MAV_RESULT_ACCEPTED);
} else {
mModel.send_command_ack(MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, MAV_RESULT.MAV_RESULT_IN_PROGRESS);
mModel.do_set_motion_relative(
MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED,
(double)msg_param.x,
@@ -276,7 +312,9 @@ public class MAVLinkReceiver {
if ( ((msg_param_4.type_mask & 0b0000100000000111) == 0x007) ){ // If no move and we use yaw rate...
mModel.mAutonomy = false;
mModel.do_set_motion_velocity_NED(msg_param_4.vx, msg_param_4.vy, msg_param_4.vz, (float)Math.toDegrees(msg_param_4.yaw_rate),msg_param_4.type_mask);
mModel.send_command_ack(MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, MAV_RESULT.MAV_RESULT_ACCEPTED);
} else{
mModel.send_command_ack(MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, MAV_RESULT.MAV_RESULT_IN_PROGRESS);
mModel.do_set_motion_absolute(
(double)msg_param_4.lat_int/10000000,
(double)msg_param_4.lon_int/10000000,
@@ -294,6 +332,7 @@ public class MAVLinkReceiver {
case MAVLINK_MSG_ID_MANUAL_CONTROL:
msg_manual_control msg_param_5 = (msg_manual_control) msg;
mModel.do_set_motion_velocity(msg_param_5.x / (float) 100.0, msg_param_5.y / (float) 100.0, msg_param_5.z / (float) 260.0, msg_param_5.r / (float) 50.0, 0b0000100000111000);
mModel.send_command_ack(MAVLINK_MSG_ID_MANUAL_CONTROL, MAV_RESULT.MAV_RESULT_ACCEPTED);
break;
app/src/main/java/sq/rogue/rosettadrone/MainActivity.java
+9 -7
Ver Arquivo
@@ -715,12 +715,14 @@ public class MainActivity extends AppCompatActivity implements DJICodecManager.Y
if (!product.getModel().equals(Model.UNKNOWN_AIRCRAFT)) {
mCamera = product.getCamera();
mCamera.setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, djiError -> {
if (djiError != null) {
Log.e(TAG, "can't change mode of camera, error: "+djiError.getDescription());
logMessageDJI("can't change mode of camera, error: "+djiError.getDescription());
}
});
if(mCamera != null) {
mCamera.setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, djiError -> {
if (djiError != null) {
Log.e(TAG, "can't change mode of camera, error: " + djiError.getDescription());
logMessageDJI("can't change mode of camera, error: " + djiError.getDescription());
}
});
}
/*
mCamera.setVideoResolutionAndFrameRate(new ResolutionAndFrameRate(SettingsDefinitions.VideoResolution.RESOLUTION_1280x720,SettingsDefinitions.VideoFrameRate.FRAME_RATE_25_FPS) , djiError -> {
if (djiError != null) {
@@ -1483,7 +1485,7 @@ public class MainActivity extends AppCompatActivity implements DJICodecManager.Y
}
if (FLAG_DRONE_RTL_ALTITUDE_CHANGED) {
mModel.setRTLAltitude(Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_drone_rtl_altitude", "60"))));
mModel.setRTLAltitude(Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_drone_rtl_altitude", "30"))));
FLAG_DRONE_RTL_ALTITUDE_CHANGED = false;
}