@Override
protected void onAttachedToWindow() {
super.onAttachedToWindow();
if (DJIModuleVerificationUtil.isFlightControllerAvailable()) {
flightController =
((DJIAircraft) DJISampleApplication.getProductInstance()).getFlightController();
intelligentFlightAssistant = flightController.getIntelligentFlightAssistant();
if (intelligentFlightAssistant != null) {
intelligentFlightAssistant.setVisionDetectionStateUpdatedCallback(
new DJIIntelligentFlightAssistant.VisionDetectionStateUpdatedCallback() {
@Override
public void onStateUpdated(
DJIIntelligentFlightAssistant.DJIVisionDetectionState djiVisionDetectionState) {
if (null != djiVisionDetectionState) {
mStringBuffer.delete(0, mStringBuffer.length());
List<DJIIntelligentFlightAssistant.DJIVisionDetectionSector>
visionDetectionSectorList = djiVisionDetectionState.getDetectionSectors();
for (DJIIntelligentFlightAssistant.DJIVisionDetectionSector
visionDetectionSector : visionDetectionSectorList) {
visionDetectionSector.getObstacleDistanceInMeters();
visionDetectionSector.getWarningLevel();
mStringBuffer
.append("Obstacle distance: ")
.append(visionDetectionSector.getObstacleDistanceInMeters())
.append("\n");
mStringBuffer
.append("Distance warning: ")
.append(visionDetectionSector.getWarningLevel())
.append("\n");
}
mStringBuffer
.append("WarningLevel: ")
.append(djiVisionDetectionState.getWarningLevel().toString())
.append("\n");
mStringBuffer
.append("Braking state: ")
.append(djiVisionDetectionState.isBraking())
.append("\n");
mStringBuffer
.append("Sensor state: ")
.append(djiVisionDetectionState.isSensorWorking())
.append("\n");
mHandler.sendEmptyMessage(SET_CHANGE_STATUS);
}
}
});
}
} else {
Log.i("$$$$$$$$$$$$$$$$$$$", "onAttachedToWindow FC NOT Available");
}
}
