DEFINE_THREAD_ROUTINE(drone_main_thread, data) {
ardrone_tool_set_ui_pad_select(0); // Do not send any emergency signal
ardrone_at_set_navdata_all();
// Uint32 emergencyPulseStartTime = SDL_GetTicks() + EMERGENCY_SIGNAL_PULSE_DURATION;
//
// int doRun = 1;
//
// while (doRun) {
// ardrone_tool_update();
//
// pthread_mutex_lock(&drone_sharedDataMutex);
// int emergencyPulseMS = SDL_GetTicks() - emergencyPulseStartTime;
// if ((drone_emergency != drone_targetEmergency) && ((emergencyPulseMS > 2 * EMERGENCY_SIGNAL_PULSE_DURATION) || (emergencyPulseMS < EMERGENCY_SIGNAL_PULSE_DURATION))) {
// ardrone_tool_set_ui_pad_select(1);
//
// if (emergencyPulseMS > 2 * EMERGENCY_SIGNAL_PULSE_DURATION) {
// emergencyPulseStartTime = SDL_GetTicks();
// }
// } else {
// ardrone_tool_set_ui_pad_select(0);
// }
//
// doRun = drone_doRun;
// pthread_mutex_unlock(&drone_sharedDataMutex);
// }
//
Uint32 startTime;
// Enforce landing...
startTime = SDL_GetTicks();
while ((!drone_landed) && (SDL_GetTicks() - startTime < DRONE_LAND_WAIT_LIMIT)) {
drone_land();
ardrone_tool_update();
}
if (!drone_landed) {
fprintf(stderr, "Warning! Drone could not land within %d seconds! Trying to set emergency flag...\n", DRONE_LAND_WAIT_LIMIT / 1000);
startTime = SDL_GetTicks();
while ((!(drone_emergency) || (drone_landed)) && (SDL_GetTicks() - startTime < DRONE_EMERGENCY_WAIT_LIMIT)) {
drone_setEmergency(1);
ardrone_tool_update();
}
if ((!(drone_emergency) || (drone_landed))) {
fprintf(stderr, "Error! Drone could not land and no emergency flag could be set. If it is still flying: Good luck!\n");
}
}
return 0;
}
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: land
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_cbccore_ARDrone_land(JNIEnv * env, jobject obj){
drone_land();
}
