public void forcedGuidedCoordinate(
final LatLong coord, final double alt, final ICommandListener listener) {
final Gps droneGps = (Gps) myDrone.getAttribute(AttributeType.GPS);
if (!droneGps.has3DLock()) {
postErrorEvent(handler, listener, CommandExecutionError.COMMAND_FAILED);
return;
}
if (isInitialized()) {
changeCoord(coord);
changeAlt(alt);
postSuccessEvent(handler, listener);
} else {
mPostInitializationTask =
new Runnable() {
@Override
public void run() {
changeCoord(coord);
changeAlt(alt);
}
};
changeToGuidedMode(myDrone, listener);
}
}
public static CameraProxy getCameraProxy(MavLinkDrone drone, List<CameraDetail> cameraDetails) {
final CameraDetail camDetail;
final FootPrint currentFieldOfView;
final List<FootPrint> proxyPrints = new ArrayList<>();
if (drone == null) {
camDetail = new CameraDetail();
currentFieldOfView = new FootPrint();
} else {
Camera droneCamera = drone.getCamera();
camDetail = ProxyUtils.getCameraDetail(droneCamera.getCamera());
List<Footprint> footprints = droneCamera.getFootprints();
for (Footprint footprint : footprints) {
proxyPrints.add(CommonApiUtils.getProxyCameraFootPrint(footprint));
}
Gps droneGps = (Gps) drone.getAttribute(AttributeType.GPS);
currentFieldOfView =
droneGps != null && droneGps.isValid()
? CommonApiUtils.getProxyCameraFootPrint(droneCamera.getCurrentFieldOfView())
: new FootPrint();
}
return new CameraProxy(camDetail, currentFieldOfView, proxyPrints, cameraDetails);
}
private static LatLong getGpsPosition(Drone drone) {
final Gps droneGps = (Gps) drone.getAttribute(AttributeType.GPS);
return droneGps == null ? null : droneGps.getPosition();
}