Question

我有来自无人机套件的这个源代码，我正在尝试对特定位置的特定坐标进行硬编码，以便无人机起飞它将落在同一位置。这是我使用按钮选项链接的代码，用户可以在无人机布防并准备好后点击该按钮选项。

public void onBtnbringmymail(View view) {
    State vehicleState = this.drone.getAttribute(AttributeType.STATE);

    if (vehicleState.isFlying()) {
        // Land
        VehicleApi.getApi(this.drone).setVehicleMode(VehicleMode.COPTER_LAND, new SimpleCommandListener() {
            @Override
            public void onError(int executionError) {
                alertUser("Unable to land the vehicle.");
            }

            @Override
            public void onTimeout() {
                alertUser("Unable to land the vehicle.");
            }
        });
    } else if (vehicleState.isArmed()) {
        // Take off
        ControlApi.getApi(this.drone).takeoff(10, new AbstractCommandListener() {

            @Override
            public void onSuccess() {
                alertUser("Taking off...");
            }

            @Override
            public void onError(int i) {
                alertUser("Unable to take off.");
            }

            @Override
            public void onTimeout() {
                alertUser("Unable to take off.");
            }
        });
    } else if (!vehicleState.isConnected()) {
        // Connect
        alertUser("Connect to a drone first");
    } else {
        // Connected but not Armed
        VehicleApi.getApi(this.drone).arm(true, false, new SimpleCommandListener() {
            @Override
            public void onError(int executionError) {
                alertUser("Unable to arm vehicle.");
            }

            @Override
            public void onTimeout() {
                alertUser("Arming operation timed out.");
            }
        });
    }
}

Answer 1

根据您的最新评论，要做的步骤如下：

按下按钮，执行ActionA
ActionA由多个子操作组成 **检查是否武装
- 起飞
- 检查当前坐标并验证目标坐标
- - 如果等于，则登陆
- - 如果不平等，请计算向量并遵循该向量

在伪代码中，它看起来像这样：

public class Autopilot
{

    // To be called by a button press
    public void execute()
    {
        if(systems.isEngaged() AND systems.isLanded())
        {
            takeOff();
        }
    }

    public void takeOff()
    {
        // Execute TakeOff procedures

        validateFlightPath();
    }

    public void validateFlightPath()
    {

        // Not within some meters to the target.
        while(!systems.getGps().getCurrentCoordinates().withinRange(targetCoordinates, coordinateThreshold)
        {         
            flyTo(targetCoordinates);
        }

        land();
    }

    public void flyTo(Coordinates coords)
    {
        Coordinates currentCoords = system.getGps().getCurrentCoordinates();

        Vector3 flightVector = coords - currentCoords;
        system.getFlightControls()... // Setup your flight controls to  follow the flightVector;
    }

    public void land()
    {
        // Perform landing procedures
    }
}

将航路点硬编码到无人机套件中

1 个答案: