/*
* take off -> landing -> take off -> go home
*/
void basic_test_cmd(bool &is_init)
{
static int cnt;
unsigned char send_data = 0;
if(!is_init)
{
cnt = 0;
is_init= true;
}
else
{
if(test_cmd_send_flag)
{
if(test_cmd_is_resend)
{
cnt--;
test_cmd_is_resend = 0;
}
if(cnt % 4 == 0)
{
test_cmd_send_flag = 0;
send_data = 4;
}
else if(cnt % 4 == 1)
{
test_cmd_send_flag = 0;
send_data = 6;
}
else if(cnt % 4 == 2)
{
test_cmd_send_flag = 0;
send_data = 4;
}
else if(cnt % 4 == 3)
{
test_cmd_send_flag = 0;
send_data = 1;
}
App_Complex_Send_Cmd(send_data, cmd_callback_test_fun);
printf("[TEST_CMD] send %d \n",send_data);
cnt++;
}
}
}
void DJI_Onboard_API_UAV_Control(unsigned char arg)
{
unsigned char send_data = arg;
if( !(arg == 1 || arg == 4 || arg == 6) )
{
printf("Parameter [ERROR]\n");
}
if(cmd_send_flag)
{
App_Complex_Send_Cmd(send_data, cmd_callback_fun);
cmd_send_flag = 0;
}
else
{
printf("Previous Command not finish [ERROR]\n");
}
}
void DJI_Onboard_API_UAV_Control(unsigned char arg)
{
unsigned char send_data = arg;
App_Complex_Send_Cmd(send_data);
}
void test_all(bool &is_init)
{
static int cnt;
if(!is_init)
{
cnt = 0;
is_init= true;
}
else
{
static bool init_flag = false;
if(cnt < 1)
{
uint8_t send_data = 4;
App_Complex_Send_Cmd(send_data, cmd_callback_fun);
cnt ++;
}
else if(cnt < 50 * 12)
{
/* wait for takeoff finish */
cnt ++;
}
else if(cnt < 50 * (40 + 12))
{
if(cnt == 50 * 12)
printf("Debug info: start mode2\n");
basic_test_mode2(init_flag);
cnt ++;
}
else if(cnt < 50 * (40 + 12) + 1)
{
init_flag = false;
cnt ++;
}
else if(cnt < 50 * 40 * 2 + 50 * 12)
{
if(cnt == (50 *(40 + 12) + 1))
printf("Debug info: start mode4\n");
basic_test_mode4(init_flag);
cnt ++;
}
else if(cnt < 50 * 40 * 2 + 50 * 12 + 1)
{
init_flag = false;
uint8_t send_data = 1;
App_Complex_Send_Cmd(send_data, cmd_callback_fun);
cnt ++;
}
else if(cnt < 50 * (40 + 12) * 2 + 50 * 15)
{
//wait landing
cnt ++;
}
else
{
printf("Test_all finished !\n");
cnt = 0;
simple_task_num = -1;
}
}
}
