void Camera::moveKeyboard()
{
// you may change key controls for the interactive
// camera controls here, make sure you document your changes
// in your README file
if (Fl::event_key('w'))
moveForward(+0.05);
if (Fl::event_key('s'))
moveForward(-0.05);
if (Fl::event_key('a'))
moveSideways(-0.05);
if (Fl::event_key('d'))
moveSideways(+0.05);
if (Fl::event_key(FL_Up))
moveVertical(+0.05);
if (Fl::event_key(FL_Down))
moveVertical(-0.05);
if (Fl::event_key(FL_Left))
rotateYaw(+0.05);
if (Fl::event_key(FL_Right))
rotateYaw(-0.05);
if (Fl::event_key(FL_Page_Up))
rotatePitch(+0.05);
if (Fl::event_key(FL_Page_Down))
rotatePitch(-0.05);
}
/**
* Yaw carefree mode means yaw will stay in world coordinates. So even though
* the Crazyflie rotates around the yaw, front will stay the same as when it started.
* This makes makes it a bit easier for beginners
*/
static void rotateYawCarefree(setpoint_t *setpoint, const state_t *state, bool reset)
{
static float carefreeFrontAngle;
if (reset) {
carefreeFrontAngle = state->attitude.yaw;
}
float yawRad = (state->attitude.yaw - carefreeFrontAngle) * (float)M_PI / 180;
rotateYaw(setpoint, yawRad);
}
static void yawModeUpdate(setpoint_t *setpoint, const state_t *state)
{
switch (yawMode)
{
case CAREFREE:
rotateYawCarefree(setpoint, state, carefreeResetFront);
break;
case PLUSMODE:
rotateYaw(setpoint, 45 * M_PI / 180);
break;
case XMODE: // Fall through
default:
// Default in x-mode. Do nothing
break;
}
}
/**
* Update Yaw according to current setting
*/
static void yawModeUpdate(setpoint_t *setpoint)
{
switch (yawMode)
{
case CAREFREE:
// TODO: Add frame of reference to setpoint
ASSERT(false);
break;
case PLUSMODE:
rotateYaw(setpoint, 45 * M_PI / 180);
break;
case XMODE: // Fall through
default:
// Default in x-mode. Do nothing
break;
}
}
