int main ()
{
float CENTER = 79.5;
float OFFSET = 0.05;
drone_connect();
enable_drone_vision();
drone_front_camera();
sleep(2);
drone_takeoff();
printf("Black button to exit test loop and land the drone");
float x, y;
track_update();
while(!black_button())
{
x = OFFSET * ((track_x(0,0) - CENTER) / CENTER);
y = OFFSET * ((track_y(0,0) - CENTER) / CENTER);
if(track_count(0) > 0)
{
printf("Items tracking: %d\n", track_count(0));
drone_move(0,0, x, y);
}
els
{
printf("No items: Hovering \n");
drone_hover();
}
sleep(4);
track_update();
}
printf("Landing");
drone_move(0,0,0,-.25);
sleep(0.5);
drone_land();
drone_disconnect();
return 0;
}
/*
* Class: Drone
* Method: takeoff
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_cbccore_ARDrone_takeoff(JNIEnv * env, jobject obj){
drone_takeoff();
}
int
ui_flight_run (UI * ui, Drone * drone)
{
int ret = 0;
int is_flying = 0;
while (running) {
SceCtrlData pad;
SceCtrlLatch latch;
int yaw = 0;
int pitch = 0;
int roll = 0;
int gaz = 0;
if (!drone->connected) {
ui_msg_dialog (ui, "Connection to drone lost");
ret = FLIGHT_UI_MAIN_MENU;
break;
}
ui_flight_update (ui, drone);
sceCtrlReadBufferPositive (&pad, 1);
sceCtrlReadLatch (&latch);
is_flying = (drone->state == DRONE_STATE_TAKING_OFF) ||
(drone->state == DRONE_STATE_FLYING);
/* Check triangle and circle transition */
if (EVENT_BUTTON_DOWN (&latch, PSP_CTRL_TRIANGLE)) {
if (is_flying)
drone_landing (drone);
else
drone_takeoff (drone);
}
if (EVENT_BUTTON_DOWN (&latch, PSP_CTRL_CIRCLE)) {
drone_emergency (drone);
is_flying = 0;
}
if (EVENT_BUTTON_DOWN (&latch, PSP_CTRL_SELECT)) {
switch (ui->setting_select_binding) {
case SELECT_BIND_TAKE_PICTURE:
drone_take_picture (drone);
break;
case SELECT_BIND_FLIP_FRONT:
drone_do_flip (drone, DRONE_FLIP_FRONT);
break;
case SELECT_BIND_FLIP_BACK:
drone_do_flip (drone, DRONE_FLIP_BACK);
break;
case SELECT_BIND_FLIP_RIGHT:
drone_do_flip (drone, DRONE_FLIP_RIGHT);
break;
case SELECT_BIND_FLIP_LEFT:
drone_do_flip (drone, DRONE_FLIP_LEFT);
break;
default:
break;
}
}
if (EVENT_BUTTON_DOWN (&latch, PSP_CTRL_START)) {
if (ui_flight_main_menu (ui, drone) ==
FLIGHT_MAIN_MENU_QUIT) {
ret = FLIGHT_UI_MAIN_MENU;
break;
}
}
/* Send flight control */
if (pad.Buttons != 0) {
if (pad.Buttons & PSP_CTRL_CROSS)
gaz += ui->setting_gaz;
if (pad.Buttons & PSP_CTRL_SQUARE)
gaz -= ui->setting_gaz;
if (pad.Buttons & PSP_CTRL_LTRIGGER)
yaw -= ui->setting_yaw;
if (pad.Buttons & PSP_CTRL_RTRIGGER)
yaw += ui->setting_yaw;
if (pad.Buttons & PSP_CTRL_UP)
pitch += ui->setting_pitch;
if (pad.Buttons & PSP_CTRL_DOWN)
pitch -= ui->setting_pitch;
if (pad.Buttons & PSP_CTRL_LEFT)
roll -= ui->setting_roll;
if (pad.Buttons & PSP_CTRL_RIGHT)
roll += ui->setting_roll;
}
if (gaz || yaw || pitch || roll)
drone_flight_control (drone, gaz, yaw, pitch, roll);
sceDisplayWaitVblankStart ();
SDL_Flip (ui->screen);
}
return ret;
}
