public static void gotoWaypoint(MavLinkDrone drone, int waypoint, ICommandListener listener) {
if (drone == null) return;
if (waypoint < 0) {
postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
return;
}
MavLinkDoCmds.gotoWaypoint(drone, waypoint, listener);
}
public static void stopVideoStream(
Drone drone, String appId, String videoTag, ICommandListener listener) {
if (!(drone instanceof GenericMavLinkDrone)) {
postErrorEvent(CommandExecutionError.COMMAND_UNSUPPORTED, listener);
return;
}
final GenericMavLinkDrone mavLinkDrone = (GenericMavLinkDrone) drone;
mavLinkDrone.stopVideoStream(appId, videoTag, listener);
}
public static void startMission(
final MavLinkDrone drone,
final boolean forceModeChange,
final boolean forceArm,
final ICommandListener listener) {
if (drone == null) {
return;
}
final Runnable sendCommandRunnable =
new Runnable() {
@Override
public void run() {
msg_command_long msg = new msg_command_long();
msg.target_system = drone.getSysid();
msg.target_component = drone.getCompid();
msg.command = MAV_CMD.MAV_CMD_MISSION_START;
drone.getMavClient().sendMavMessage(msg, listener);
}
};
final Runnable modeCheckRunnable =
new Runnable() {
@Override
public void run() {
if (drone.getState().getMode() != ApmModes.ROTOR_AUTO) {
if (forceModeChange) {
changeVehicleMode(
drone,
VehicleMode.COPTER_AUTO,
new AbstractCommandListener() {
@Override
public void onSuccess() {
sendCommandRunnable.run();
}
@Override
public void onError(int executionError) {
postErrorEvent(executionError, listener);
}
@Override
public void onTimeout() {
postTimeoutEvent(listener);
}
});
} else {
postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
}
return;
} else {
sendCommandRunnable.run();
}
}
};
if (!drone.getState().isArmed()) {
if (forceArm) {
arm(
drone,
true,
new AbstractCommandListener() {
@Override
public void onSuccess() {
modeCheckRunnable.run();
}
@Override
public void onError(int executionError) {
postErrorEvent(executionError, listener);
}
@Override
public void onTimeout() {
postTimeoutEvent(listener);
}
});
} else {
postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
}
return;
}
modeCheckRunnable.run();
}