public static State getState(MavLinkDrone drone, boolean isConnected, Vibration vibration) {
if (drone == null) return new State();
org.droidplanner.services.android.core.drone.variables.State droneState = drone.getState();
ApmModes droneMode = droneState.getMode();
AccelCalibration accelCalibration = drone.getCalibrationSetup();
String calibrationMessage =
accelCalibration != null && accelCalibration.isCalibrating()
? accelCalibration.getMessage()
: null;
final msg_ekf_status_report ekfStatus = droneState.getEkfStatus();
final EkfStatus proxyEkfStatus =
ekfStatus == null
? new EkfStatus()
: new EkfStatus(
ekfStatus.flags,
ekfStatus.compass_variance,
ekfStatus.pos_horiz_variance,
ekfStatus.terrain_alt_variance,
ekfStatus.velocity_variance,
ekfStatus.pos_vert_variance);
return new State(
isConnected,
CommonApiUtils.getVehicleMode(droneMode),
droneState.isArmed(),
droneState.isFlying(),
droneState.getErrorId(),
drone.getMavlinkVersion(),
calibrationMessage,
droneState.getFlightStartTime(),
proxyEkfStatus,
isConnected && drone.isConnectionAlive(),
vibration);
}
