C++ (Cpp) sol_mavlink_get_home_position示例

示例#1

文件： basic.c 项目： brunobottazzini/soletta

static void
mission_reached_cb(void *data, struct sol_mavlink *mavlink)
{
    int err;
    enum sol_mavlink_mode mode;
    struct sol_mavlink_position home;

    mode = sol_mavlink_get_mode(mavlink);
    err = sol_mavlink_get_home_position(mavlink, &home);
    if (err < 0) {
        SOL_ERR("Could not get home position: %s", sol_util_strerrora(-err));
        return;
    }

    if (mode != SOL_MAVLINK_MODE_GUIDED)
        return;

    err = sol_mavlink_land(mavlink, &home);
    if (err < 0) {
        SOL_ERR("Could not land vehicle: %s", sol_util_strerrora(-err));
        return;
    }

    printf(">>>> Successful takeoff, now landing.\n");
}

示例#2

文件： goto.c 项目： ChunHungLiu/soletta

static void
mission_reached_cb(void *data, struct sol_mavlink *mavlink)
{
    int err;
    enum sol_mavlink_mode mode;
    struct sol_mavlink_position home, curr;
    struct sol_mavlink_position dest = { DEST_LAT, DEST_LONG, DEST_ALT };

    mode = sol_mavlink_get_mode(mavlink);
    err = sol_mavlink_get_curr_position(mavlink, &curr);
    if (err < 0) {
        SOL_ERR("Could not get current position: %s", sol_util_strerrora(-err));
        return;
    }

    if (mode != SOL_MAVLINK_MODE_GUIDED)
        return;

    if (GT_MARGIN(curr.altitude, DEST_ALT)) {
        printf(">>>> Going back home.\n");
        err = sol_mavlink_get_home_position(mavlink, &home);

        if (err < 0) {
            SOL_ERR("Could not get home position: %s", sol_util_strerrora(-err));
            return;
        }

        err = sol_mavlink_land(mavlink, &home);
        if (err < 0) {
            SOL_ERR("Could not land vehicle: %s", sol_util_strerrora(-err));
        }
    } else if (GT_MARGIN(curr.altitude, TAKEOFF_ALT)) {
        err = sol_mavlink_goto(mavlink, &dest);
        if (err < 0) {
            SOL_ERR("Could not send vehicle to: (%f, %f, %f) - %s",
                dest.latitude, dest.longitude, dest.altitude,
                sol_util_strerrora(-err));
            return;
        }

        printf(">>>> Successful takeoff, starting a new mission, heading to: "
            "(%f, %f, %f)\n", dest.latitude, dest.longitude, dest.altitude);
    }
}