C++ (Cpp) sol_mavlink_is_armed示例

示例#1

文件： basic.c 项目： brunobottazzini/soletta

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

    SOL_INF("mavlink connection stablished");

    mode = sol_mavlink_get_mode(mavlink);
    if (mode != SOL_MAVLINK_MODE_GUIDED) {
        err = sol_mavlink_set_mode(mavlink, SOL_MAVLINK_MODE_GUIDED);
        if (err < 0) {
            SOL_ERR("Could not set mode: %s", sol_util_strerrora(-err));
        }
        return;
    }

    if (!sol_mavlink_is_armed(mavlink)) {
        err = sol_mavlink_set_armed(mavlink, true);
        if (err < 0) {
            SOL_ERR("Could not arm vechicle: %s", sol_util_strerrora(-err));
        }
        return;
    }

    takeoff(mavlink);
}

示例#2

文件： basic.c 项目： brunobottazzini/soletta

static void
mode_changed_cb(void *data, struct sol_mavlink *mavlink)
{
    int err;
    enum sol_mavlink_mode mode = sol_mavlink_get_mode(mavlink);
    bool armed = sol_mavlink_is_armed(mavlink);

    if (mode == SOL_MAVLINK_MODE_GUIDED && !armed) {
        err = sol_mavlink_set_armed(mavlink, true);
        if (err < 0) {
            SOL_ERR("Could not arm vechicle: %s", sol_util_strerrora(-err));
        }
    }
}

示例#3

文件： basic.c 项目： brunobottazzini/soletta

static void
position_changed_cb(void *data, struct sol_mavlink *mavlink)
{
    int err;
    struct sol_mavlink_position pos;

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

    if (sol_mavlink_is_armed(mavlink))
        printf("lat: %f, long: %f, alt: %f\n", pos.latitude, pos.longitude,
            pos.altitude);
}

示例#4

文件： sol-mavlink.c 项目： amandawrcoelho/soletta

SOL_API int
sol_mavlink_set_armed(struct sol_mavlink *mavlink, bool armed)
{
    mavlink_message_t msg = { 0 };
    uint8_t buf[MAVLINK_MAX_PACKET_LEN];
    uint16_t len, res;
    bool curr;

    SOL_NULL_CHECK(mavlink, -EINVAL);

    curr = sol_mavlink_is_armed(mavlink);
    SOL_EXP_CHECK(curr == !!armed, -EINVAL);

    mavlink_msg_command_long_pack(mavlink->sysid, mavlink->compid,
        &msg, 0, 0, MAV_CMD_COMPONENT_ARM_DISARM, 0,
        !!armed, 0, 0, 0, 0, 0, 0);

    len = mavlink_msg_to_send_buffer(buf, &msg);
    res = write(mavlink->fd, buf, len);

    SOL_INT_CHECK(res, < len, -errno);
    return 0;
}