示例#1
0
  public double getSpeedParameter() {
    Parameters params = getAttribute(AttributeType.PARAMETERS);
    if (params != null) {
      Parameter speedParam = params.getParameter("WPNAV_SPEED");
      if (speedParam != null) return speedParam.getValue();
    }

    return 0;
  }
示例#2
0
  public static void writeParameters(MavLinkDrone drone, Parameters parameters) {
    if (drone == null || parameters == null) return;

    List<Parameter> parametersList = parameters.getParameters();
    if (parametersList.isEmpty()) return;

    org.droidplanner.services.android.core.drone.profiles.Parameters droneParams =
        drone.getParameters();
    for (Parameter proxyParam : parametersList) {
      droneParams.sendParameter(
          new org.droidplanner.services.android.core.parameters.Parameter(
              proxyParam.getName(), proxyParam.getValue(), proxyParam.getType()));
    }
  }
示例#3
0
  public static Parameters getParameters(
      MavLinkDrone drone, Context context, Map<String, Parameter> cachedParameters) {
    if (drone == null) return new Parameters();

    final Map<String, Parameter> incompleteParams = new HashMap<>();
    final List<Parameter> parametersList = new ArrayList<>();

    Map<String, org.droidplanner.services.android.core.parameters.Parameter> droneParameters =
        drone.getParameters().getParameters();
    if (!droneParameters.isEmpty()) {
      for (org.droidplanner.services.android.core.parameters.Parameter param :
          droneParameters.values()) {
        if (param.name != null) {
          Parameter cachedParam = cachedParameters.get(param.name);
          if (cachedParam == null) {
            cachedParam = new Parameter(param.name, param.value, param.type);
            incompleteParams.put(param.name, cachedParam);
            cachedParameters.put(param.name, cachedParam);
          } else {
            cachedParam.setValue(param.value);
            cachedParam.setType(param.type);
          }

          parametersList.add(cachedParam);
        }
      }

      final VehicleProfile profile = drone.getVehicleProfile();
      if (!incompleteParams.isEmpty() && profile != null) {
        try {
          String metadataType = profile.getParameterMetadataType();
          if (metadataType != null) {
            ParameterMetadataLoader.load(context, metadataType, incompleteParams);
          }
        } catch (IOException | XmlPullParserException e) {
          Timber.e(e, e.getMessage());
        }
      }
    }

    return new Parameters(new ArrayList<>(parametersList));
  }
示例#4
0
  @Override
  protected boolean setVelocity(Bundle data, ICommandListener listener) {
    // Retrieve the normalized values
    float normalizedXVel = data.getFloat(ControlActions.EXTRA_VELOCITY_X);
    float normalizedYVel = data.getFloat(ControlActions.EXTRA_VELOCITY_Y);
    float normalizedZVel = data.getFloat(ControlActions.EXTRA_VELOCITY_Z);

    double attitudeInRad = Math.toRadians(attitude.getYaw());

    final double cosAttitude = Math.cos(attitudeInRad);
    final double sinAttitude = Math.sin(attitudeInRad);

    float projectedX =
        (float) (normalizedXVel * cosAttitude) - (float) (normalizedYVel * sinAttitude);
    float projectedY =
        (float) (normalizedXVel * sinAttitude) + (float) (normalizedYVel * cosAttitude);

    // Retrieve the speed parameters.
    float defaultSpeed = 5; // m/s

    ParameterManager parameterManager = getParameterManager();

    // Retrieve the horizontal speed value
    Parameter horizSpeedParam = parameterManager.getParameter("WPNAV_SPEED");
    double horizontalSpeed =
        horizSpeedParam == null ? defaultSpeed : horizSpeedParam.getValue() / 100;

    // Retrieve the vertical speed value.
    String vertSpeedParamName = normalizedZVel >= 0 ? "WPNAV_SPEED_UP" : "WPNAV_SPEED_DN";
    Parameter vertSpeedParam = parameterManager.getParameter(vertSpeedParamName);
    double verticalSpeed = vertSpeedParam == null ? defaultSpeed : vertSpeedParam.getValue() / 100;

    MavLinkCommands.setVelocityInLocalFrame(
        this,
        (float) (projectedX * horizontalSpeed),
        (float) (projectedY * horizontalSpeed),
        (float) (normalizedZVel * verticalSpeed),
        listener);
    return true;
  }