jint JNICALL Java_ardrone_ARDrone_getDroneState(JNIEnv *env, jclass cls)
{
return GetDroneState();
}
void ZigBee::decodeTrame()
{
iIndexBufferIn = 0;
for(int i = 0 ; i < st_BufferIn.lengthData ; i++) {
switch(st_BufferIn.Data[iIndexBufferIn++]) {
case PARAM_DRONE_CONFIG_ulMaxAngle:
GetConfigDrone(&(st_droneConfig.ulMaxAngle));
break;
case PARAM_DRONE_CONFIG_ulTakeoffAltitude:
GetConfigDrone(&(st_droneConfig.ulTakeoffAltitude));
break;
case PARAM_DRONE_CONFIG_ulMinAltitude:
GetConfigDrone(&(st_droneConfig.ulMinAltitude));
break;
case PARAM_DRONE_CONFIG_ulCritBatteryLvl:
GetConfigDrone(&(st_droneConfig.ulCritBatteryLvl));
break;
case PARAM_DRONE_CONFIG_ulCritObstacleDist:
GetConfigDrone(&(st_droneConfig.ulCritObstacleDist));
break;
case PARAM_DRONE_CONFIG_ulCritZigbeeSignalLvl:
GetConfigDrone(&(st_droneConfig.ulCritZigbeeSignalLvl));
break;
case PARAM_DRONE_CONFIG_xBatteryMonitoringPeriod:
GetConfigDrone(&(st_droneConfig.xBatteryMonitoringPeriod));
break;
case PARAM_DRONE_CONFIG_xDetectObstaclePeriod:
GetConfigDrone(&(st_droneConfig.xDetectObstaclePeriod));
break;
case PARAM_DRONE_CONFIG_xZigbeeReceivePeriod:
GetConfigDrone(&(st_droneConfig.xZigbeeReceivePeriod));
break;
case PARAM_DRONE_CONFIG_xFlightCtrlPeriod:
GetConfigDrone(&(st_droneConfig.xFlightCtrlPeriod));
break;
case PARAM_DRONE_CONFIG_xGPSReceivePeriod:
GetConfigDrone(&(st_droneConfig.xGPSReceivePeriod));
break;
case PARAM_DRONE_CONFIG_xVideoTogglePeriod:
GetConfigDrone(&(st_droneConfig.xVideoTogglePeriod));
break;
case PARAM_DRONE_CONFIG_xIMUDataTimeout:
st_droneConfig.xIMUDataTimeout = st_BufferIn.Data[iIndexBufferIn++];
break;
case PARAM_DRONE_CONFIG_xZigbeeCmdTimeout:
st_droneConfig.xZigbeeCmdTimeout = st_BufferIn.Data[iIndexBufferIn++];
break;
case PARAM_DRONE_CONFIG_xZigbeeReceiveTimeout:
st_droneConfig.xZigbeeReceiveTimeout = st_BufferIn.Data[iIndexBufferIn++];
break;
case PARAM_DRONE_CONFIG_xTelemeterTimeout:
st_droneConfig.xTelemeterTimeout = st_BufferIn.Data[iIndexBufferIn++];
break;
case PARAM_DRONE_CONFIG_xBatteryTimeout:
st_droneConfig.xBatteryTimeout = st_BufferIn.Data[iIndexBufferIn++];
break;
case PARAM_DRONE_CONFIG_xGPSTimeout:
st_droneConfig.xGPSTimeout = st_BufferIn.Data[iIndexBufferIn++];
//printf("\n%d\n",st_droneConfig.xGPSTimeout);
break;
case PARAM_DRONE_ERROR:
GetDroneError(&(st_DroneState.eErrorMask));
//ERREUR A TRAITER?
//Ici, si erreur mineur-> on demande si elle doit être ignoré
// et on stock pour la prochaine émission
break;
case PARAM_FLY_STATE:
GetDroneState(&(st_DroneState.eFltState));
if(st_DroneState.eFltState == STATE_STARTING)
bReadyToSend = false;
break;
case PARAM_IMU_xUpdateTime:
GetDroneTime(&(st_DataIMU.xUpdateTime));
break;
case PARAM_GPS_xUpdateTime:
GetDroneTime(&(st_DataGPS.xUpdateTime));
break;
default:
break;
}
}
}
