public static float getDefaultMinAltitude(MavLinkDrone drone) {
final int droneType = drone.getType();
if (Type.isCopter(droneType)) {
return 2f;
} else if (Type.isPlane(droneType)) {
return 15f;
} else {
return 0f;
}
}
public static void changeToGuidedMode(MavLinkDrone drone, ICommandListener listener) {
final State droneState = drone.getState();
final int droneType = drone.getType();
if (Type.isCopter(droneType)) {
droneState.changeFlightMode(ApmModes.ROTOR_GUIDED, listener);
} else if (Type.isPlane(droneType)) {
// You have to send a guided point to the plane in order to trigger guided mode.
forceSendGuidedPoint(drone, getGpsPosition(drone), getDroneAltConstrained(drone));
} else if (Type.isRover(droneType)) {
droneState.changeFlightMode(ApmModes.ROVER_GUIDED, listener);
}
}
public static boolean isGuidedMode(MavLinkDrone drone) {
if (drone == null) return false;
final int droneType = drone.getType();
final ApmModes droneMode = drone.getState().getMode();
if (Type.isCopter(droneType)) {
return droneMode == ApmModes.ROTOR_GUIDED;
}
if (Type.isPlane(droneType)) {
return droneMode == ApmModes.FIXED_WING_GUIDED;
}
if (Type.isRover(droneType)) {
return droneMode == ApmModes.ROVER_GUIDED || droneMode == ApmModes.ROVER_HOLD;
}
return false;
}
public void doGuidedTakeoff(final double alt, final ICommandListener listener) {
if (Type.isCopter(myDrone.getType())) {
coord = getGpsPosition();
altitude = alt;
state = GuidedStates.IDLE;
changeToGuidedMode(
myDrone,
new SimpleCommandListener() {
@Override
public void onSuccess() {
MavLinkTakeoff.sendTakeoff(myDrone, alt, listener);
myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
}
@Override
public void onError(int executionError) {
if (listener != null) {
try {
listener.onError(executionError);
} catch (RemoteException e) {
Timber.e(e, e.getMessage());
}
}
}
@Override
public void onTimeout() {
if (listener != null) {
try {
listener.onTimeout();
} catch (RemoteException e) {
Timber.e(e, e.getMessage());
}
}
}
});
} else {
if (listener != null) {
handler.post(
new Runnable() {
@Override
public void run() {
try {
listener.onError(CommandExecutionError.COMMAND_UNSUPPORTED);
} catch (RemoteException e) {
Timber.e(e, e.getMessage());
}
}
});
}
}
}
public static void arm(
final MavLinkDrone drone,
final boolean arm,
final boolean emergencyDisarm,
final ICommandListener listener) {
if (drone == null) return;
if (!arm && emergencyDisarm) {
if (org.droidplanner.services.android.core.drone.variables.Type.isCopter(drone.getType())
&& !isKillSwitchSupported(drone)) {
changeVehicleMode(
drone,
VehicleMode.COPTER_STABILIZE,
new AbstractCommandListener() {
@Override
public void onSuccess() {
MavLinkArm.sendArmMessage(drone, arm, emergencyDisarm, listener);
}
@Override
public void onError(int executionError) {
if (listener != null) {
try {
listener.onError(executionError);
} catch (RemoteException e) {
Timber.e(e, e.getMessage());
}
}
}
@Override
public void onTimeout() {
if (listener != null) {
try {
listener.onTimeout();
} catch (RemoteException e) {
Timber.e(e, e.getMessage());
}
}
}
});
return;
}
}
MavLinkArm.sendArmMessage(drone, arm, emergencyDisarm, listener);
}
/**
* Check if the kill switch feature is supported on the given drone
*
* @param drone
* @return true if it's supported, false otherwise.
*/
public static boolean isKillSwitchSupported(MavLinkDrone drone) {
if (drone == null) return false;
if (!org.droidplanner.services.android.core.drone.variables.Type.isCopter(drone.getType()))
return false;
final String firmwareVersion = drone.getFirmwareVersion();
if (TextUtils.isEmpty(firmwareVersion)) return false;
if (!firmwareVersion.startsWith("APM:Copter V3.3")
&& !firmwareVersion.startsWith("APM:Copter V3.4")
&& !firmwareVersion.startsWith("Solo")) {
return false;
}
return true;
}
