static void boot_drone(int attempt)
{
char cmds[1000];
INFO ("Attempting to boot \n");
sprintf(cmds,"AT*CONFIG=%i,\"general:navdata_demo\",\"TRUE\"\r",nb_sequence++);
nb_sequence = nb_sequence+2;
at_write ((int8_t*)cmds, strlen (cmds));
printf (cmds);
at_comwdg();
if ( get_mask_from_state( mykonos_state,MYKONOS_NAVDATA_BOOTSTRAP )) {
at_write ((int8_t*)cmds, strlen (cmds));
INFO ("Attempting to boot \n");
int retry = 20;
int bcontinue = true;
int next = 0;
while (bcontinue && retry) {
if (next == 0) {
if (get_mask_from_state( mykonos_state, MYKONOS_COMMAND_MASK )) {
INFO ("[CONTROL] Processing the current command ... \n");
next++;
}else{
sprintf(cmds,"AT*CONFIG=%i,\"general:navdata_demo\",\"TRUE\"\r",nb_sequence++);
at_write ((int8_t*)cmds, strlen (cmds));
}
fprintf(stdout,"Mykonos 1\n");
}
else {
/* char str[AT_BUFFER_SIZE];
memset (str, 0, AT_BUFFER_SIZE);
sprintf (str, "AT*CTRL=%d,%d\r", ACK_CONTROL_MODE, 0);
at_write ((int8_t*)str, strlen (str));
fprintf(stdout,"Mykonos 2\n");*/
if ( !get_mask_from_state( mykonos_state, MYKONOS_COMMAND_MASK )) {
INFO ("[CONTROL] Ack control event OK, send navdata demo\n");
bcontinue = FALSE;
}
}
usleep (100000);
retry--;
}
}
at_comwdg();
}
char *reset_com(char *message)
{
pthread_mutex_lock(&m_atcommand);
at_comwdg(message);
if (send_message(message, at_socket) != 0)
printf("[FAILED] Message sending failed\n");
pthread_mutex_unlock(&m_atcommand);
return message;
}
void CHeli::takeoff()
{
if (landed){
usleep(100000);
at_ui_reset();
usleep(200000);
at_trim();
usleep(200000);
fprintf(stdout,"Taking off");
at_ui_pad_start_pressed();
usleep(100000);
at_comwdg();
landed = false;
}
}
