Esempio n. 1
0
  public List<MissionItem> createDronie(Coord2D start, Coord2D end) {
    final int startAltitude = 4;
    final int roiDistance = -8;
    Coord2D slowDownPoint = GeoTools.pointAlongTheLine(start, end, 5);

    double defaultSpeed = myDrone.getSpeed().getSpeedParameter();
    if (defaultSpeed == -1) {
      defaultSpeed = 5;
    }

    List<MissionItem> dronieItems = new ArrayList<MissionItem>();
    dronieItems.add(new TakeoffImpl(this, startAltitude));
    dronieItems.add(
        new RegionOfInterestImpl(
            this, new Coord3D(GeoTools.pointAlongTheLine(start, end, roiDistance), (1.0))));
    dronieItems.add(
        new WaypointImpl(
            this, new Coord3D(end, (startAltitude + GeoTools.getDistance(start, end) / 2.0))));
    dronieItems.add(
        new WaypointImpl(
            this,
            new Coord3D(
                slowDownPoint,
                (startAltitude + GeoTools.getDistance(start, slowDownPoint) / 2.0))));
    dronieItems.add(new ChangeSpeedImpl(this, 1.0));
    dronieItems.add(new WaypointImpl(this, new Coord3D(start, startAltitude)));
    dronieItems.add(new ChangeSpeedImpl(this, defaultSpeed));
    dronieItems.add(new LandImpl(this, start));
    return dronieItems;
  }
Esempio n. 2
0
 @Override
 public void processNewLocation(Location location) {
   Coord2D gcsCoord = new Coord2D(location.getCoord().getLat(), location.getCoord().getLng());
   Coord2D goCoord = GeoTools.newCoordFromBearingAndDistance(gcsCoord, circleAngle, radius);
   circleAngle = MathUtil.constrainAngle(circleAngle + circleStep);
   drone.getGuidedPoint().newGuidedCoord(goCoord);
 }
Esempio n. 3
0
 public double getDistanceFromLastWaypoint(SpatialCoordItem waypoint)
     throws IllegalArgumentException {
   int i = items.indexOf(waypoint);
   if (i > 0) {
     MissionItem previous = items.get(i - 1);
     if (previous instanceof SpatialCoordItem) {
       return GeoTools.getDistance(
           waypoint.getCoordinate(), ((SpatialCoordItem) previous).getCoordinate());
     }
   }
   throw new IllegalArgumentException("Last waypoint doesn't have a coordinate");
 }
Esempio n. 4
0
  /**
   * Create and upload a dronie mission to the drone
   *
   * @return the bearing in degrees the drone trajectory will take.
   */
  public double makeAndUploadDronie() {
    Coord2D currentPosition = myDrone.getGps().getPosition();
    if (currentPosition == null || myDrone.getGps().getSatCount() <= 5) {
      myDrone.notifyDroneEvent(DroneEventsType.WARNING_NO_GPS);
      return -1;
    }

    final double bearing = 180 + myDrone.getOrientation().getYaw();
    items.clear();
    items.addAll(
        createDronie(
            currentPosition,
            GeoTools.newCoordFromBearingAndDistance(currentPosition, bearing, 50.0)));
    sendMissionToAPM();
    notifyMissionUpdate();

    return bearing;
  }