public static void sendWaypointCount(Drone drone, int count) {
msg_mission_count msg = new msg_mission_count();
msg.target_system = 1;
msg.target_component = 1;
msg.count = (short) count;
drone.MavClient.sendMavPacket(msg.pack());
}
public static void sendSetCurrentWaypoint(Drone drone, short i) {
msg_mission_set_current msg = new msg_mission_set_current();
msg.target_system = 1;
msg.target_component = 1;
msg.seq = i;
drone.MavClient.sendMavPacket(msg.pack());
}
public static void requestWayPoint(Drone drone, int index) {
msg_mission_request msg = new msg_mission_request();
msg.target_system = 1;
msg.target_component = 1;
msg.seq = (short) index;
drone.MavClient.sendMavPacket(msg.pack());
}
public static void sendAck(Drone drone) {
msg_mission_ack msg = new msg_mission_ack();
msg.target_system = 1;
msg.target_component = 1;
msg.type = MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED;
drone.MavClient.sendMavPacket(msg.pack());
}
@Override
protected void onStart() {
super.onStart();
drone.events.addDroneListener(this);
app.conectionListner = this;
drone.MavClient.queryConnectionState();
}
@Override
public void onMapLongClick(Coord2D coord) {
getPreferences();
if (drone.MavClient.isConnected()) {
if (drone.guidedPoint.isInitialized()) {
drone.guidedPoint.newGuidedCoord(coord);
} else {
if (guidedModeOnLongPress) {
GuidedDialog dialog = new GuidedDialog();
dialog.setCoord(DroneHelper.CoordToLatLang(coord));
dialog.setListener(this);
dialog.show(getChildFragmentManager(), "GUIDED dialog");
}
}
}
}
/**
* Change info mode panel when drone mode changes
*
* @param drone
*/
public void onModeChanged(Drone drone) {
switch (drone.state.getMode()) {
case ROTOR_RTL:
modeInfoPanel = new ModeRTLFragment();
break;
case ROTOR_AUTO:
modeInfoPanel = new ModeAutoFragment();
break;
case ROTOR_LAND:
modeInfoPanel = new ModeLandFragment();
break;
case ROTOR_LOITER:
modeInfoPanel = new ModeLoiterFragment();
break;
case ROTOR_STABILIZE:
modeInfoPanel = new ModeStabilizeFragment();
break;
case ROTOR_ACRO:
modeInfoPanel = new ModeAcroFragment();
break;
case ROTOR_ALT_HOLD:
modeInfoPanel = new ModeAltholdFragment();
break;
case ROTOR_CIRCLE:
modeInfoPanel = new ModeCircleFragment();
break;
case ROTOR_GUIDED:
modeInfoPanel = new ModeGuidedFragment();
break;
case ROTOR_POSITION:
modeInfoPanel = new ModePositionFragment();
break;
case ROTOR_TOY:
modeInfoPanel = new ModeDriftFragment();
break;
case ROTOR_CHASEME:
break;
default:
modeInfoPanel = new ModeDisconnectedFragment();
break;
}
if (!drone.MavClient.isConnected()) {
modeInfoPanel = new ModeDisconnectedFragment();
}
fragmentManager.beginTransaction().replace(R.id.modeInfoPanel, modeInfoPanel).commit();
}
public static void requestWaypointsList(Drone drone) {
msg_mission_request_list msg = new msg_mission_request_list();
msg.target_system = 1;
msg.target_component = 1;
drone.MavClient.sendMavPacket(msg.pack());
}
@Override
public boolean onMenuItemSelected(int featureId, MenuItem item) {
switch (item.getItemId()) {
case R.id.menu_zoom:
zoom();
return true;
case R.id.menu_save_file:
menuSaveFile();
return true;
case R.id.menu_open_file:
openMissionFile();
return true;
// Menu option Send to APM is pressed
case R.id.menu_send_to_apm:
// Start of modification for waypoint safety checks
// Check that the drone is connected before we try and send mission
if (drone.MavClient.isConnected()) {
// Use the method to make sure the input method safe
// Initialize tts engine before use?, seems like first attempt doesn't make any words
if (checkValidMission()) {
// Mission path on tablet is valid
// Set sync flag to true
drone.waypointsSynced = true;
// Sent mission to tablet
drone.mission.sendMissionToAPM();
// Let user know that mission is valid
drone.tts.speak("Mission valid");
} else {
// Mission path on tablet is invalid
// let user know waypoint path is invalid
drone.tts.speak("Mission incorrect");
// Set sync flag to false
drone.waypointsSynced = false;
// Put in a break here as we had a failure?
}
} else {
drone.tts.speak("No telemetry link");
}
return true;
case R.id.menu_clear_wp:
clearWaypointsAndUpdate();
return true;
default:
return super.onMenuItemSelected(featureId, item);
}
}
