private void updateFlightModeButtons() {
resetFlightModeButtons();
final Drone drone = getDrone();
final State droneState = drone.getAttribute(AttributeType.STATE);
final VehicleMode flightMode = droneState.getVehicleMode();
if (flightMode != null) {
switch (flightMode) {
case PLANE_AUTO:
autoBtn.setActivated(true);
break;
case PLANE_GUIDED:
final GuidedState guidedState = drone.getAttribute(AttributeType.GUIDED_STATE);
final FollowState followState = drone.getAttribute(AttributeType.FOLLOW_STATE);
if (guidedState.isInitialized() && !followState.isEnabled()) {
pauseBtn.setActivated(true);
}
break;
case PLANE_RTL:
homeBtn.setActivated(true);
break;
}
}
}
@Override
public boolean isSlidingUpPanelEnabled(Drone drone) {
final State droneState = drone.getAttribute(AttributeType.STATE);
return droneState.isConnected() && droneState.isArmed() && droneState.isFlying();
}
@Override
public void onClick(View v) {
final Drone drone = getDrone();
HitBuilders.EventBuilder eventBuilder =
new HitBuilders.EventBuilder().setCategory(GAUtils.Category.FLIGHT);
switch (v.getId()) {
case R.id.mc_connectBtn:
((SuperUI) getActivity()).toggleDroneConnection();
break;
case R.id.mc_armBtn:
getArmingConfirmation();
eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Arm");
break;
case R.id.mc_disarmBtn:
getDrone().arm(false);
eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Disarm");
break;
case R.id.mc_homeBtn:
drone.changeVehicleMode(VehicleMode.PLANE_RTL);
eventBuilder
.setAction(ACTION_FLIGHT_ACTION_BUTTON)
.setLabel(VehicleMode.PLANE_RTL.getLabel());
break;
case R.id.mc_pause:
{
final FollowState followState = drone.getAttribute(AttributeType.FOLLOW_STATE);
if (followState.isEnabled()) {
drone.disableFollowMe();
}
drone.pauseAtCurrentLocation();
eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Pause");
break;
}
case R.id.mc_TakeoffInAutoBtn:
case R.id.mc_autoBtn:
drone.changeVehicleMode(VehicleMode.PLANE_AUTO);
eventBuilder
.setAction(ACTION_FLIGHT_ACTION_BUTTON)
.setLabel(VehicleMode.PLANE_AUTO.getLabel());
break;
case R.id.mc_follow:
{
toggleFollowMe();
break;
}
default:
eventBuilder = null;
break;
}
if (eventBuilder != null) {
GAUtils.sendEvent(eventBuilder);
}
}
/**
* Set a Relay pin’s voltage high or low
*
* @param drone target vehicle
* @param relayNumber
* @param enabled true for relay to be on, false for relay to be off.
*/
public static void setRelay(Drone drone, int relayNumber, boolean enabled) {
Bundle params = new Bundle(2);
params.putInt(EXTRA_RELAY_NUMBER, relayNumber);
params.putBoolean(EXTRA_IS_RELAY_ON, enabled);
drone.performAsyncAction(new Action(ACTION_SET_RELAY, params));
}
/**
* This is an advanced/low-level method to send raw mavlink to the vehicle.
*
* <p>This method is included as an ‘escape hatch’ to allow developers to make progress if we’ve
* somehow missed providing some essentential operation in the rest of this API. Callers do not
* need to populate sysId/componentId/crc in the packet, this method will take care of that before
* sending.
*
* <p>If you find yourself needing to use this mathod please contact the drone-platform google
* group and we’ll see if we can support the operation you needed in some future revision of the
* API.
*
* @param messageWrapper A MAVLinkMessage wrapper instance. No need to fill in sysId/compId/seqNum
* - the API will take care of that.
*/
public static void sendMavlinkMessage(Drone drone, MavlinkMessageWrapper messageWrapper) {
Bundle params = new Bundle();
params.putParcelable(EXTRA_MAVLINK_MESSAGE, messageWrapper);
drone.performAsyncAction(new Action(ACTION_SEND_MAVLINK_MESSAGE, params));
}
public static void epmCommand(Drone drone, boolean release) {
Bundle params = new Bundle();
params.putBoolean(EXTRA_EPM_RELEASE, release);
Action epmAction = new Action(ACTION_EPM_COMMAND, params);
drone.performAsyncAction(epmAction);
}
public static void triggerCamera(Drone drone) {
drone.performAsyncAction(new Action(ACTION_TRIGGER_CAMERA));
}
