private void updateFlightModeButtons() {
resetFlightModeButtons();
final Drone drone = getDrone();
final State droneState = drone.getAttribute(AttributeType.STATE);
final VehicleMode flightMode = droneState.getVehicleMode();
if (flightMode != null) {
switch (flightMode) {
case PLANE_AUTO:
autoBtn.setActivated(true);
break;
case PLANE_GUIDED:
final GuidedState guidedState = drone.getAttribute(AttributeType.GUIDED_STATE);
final FollowState followState = drone.getAttribute(AttributeType.FOLLOW_STATE);
if (guidedState.isInitialized() && !followState.isEnabled()) {
pauseBtn.setActivated(true);
}
break;
case PLANE_RTL:
homeBtn.setActivated(true);
break;
}
}
}
/** @return Vehicle flight time in seconds. */
public long getFlightTime() {
State droneState = getAttribute(AttributeType.STATE);
if (droneState != null && droneState.isFlying()) {
// calc delta time since last checked
elapsedFlightTime += SystemClock.elapsedRealtime() - startTime;
startTime = SystemClock.elapsedRealtime();
}
return elapsedFlightTime / 1000;
}
private void setupButtonsByFlightState() {
final State droneState = getDrone().getAttribute(AttributeType.STATE);
if (droneState != null && droneState.isConnected()) {
if (droneState.isArmed()) {
if (droneState.isFlying()) {
setupButtonsForFlying();
} else {
setupButtonsForArmed();
}
} else {
setupButtonsForDisarmed();
}
} else {
setupButtonsForDisconnected();
}
}
@Override
public boolean isSlidingUpPanelEnabled(Drone drone) {
final State droneState = drone.getAttribute(AttributeType.STATE);
return droneState.isConnected() && droneState.isArmed() && droneState.isFlying();
}
public boolean isConnected() {
final IDroneApi droneApi = droneApiRef.get();
State droneState = getAttribute(AttributeType.STATE);
return isStarted(droneApi) && droneState.isConnected();
}