** Standard navigation data returned by the drone.
** Common data can be found with the 'state()' and 'demoData()' methods, whilst a wealth of debug
** data can be found in the NavOptions and the 'getOption()' method.
**
** Unfortunately, the NavOption data is not really documented in the Drone SDK so make of it what
** you may.
**
** To tell the drone what data to return, see `DroneAppConfig.navDataOptions`.
const class NavData {
** The sequence number of the originating UDP packet.
const Int seqNum
** Vision flags. (I have no idea!)
const Int visionFlag
** State flags wrapped up in handy getter methods.
const NavDataFlags flags
** A map of nav options.
internal const NavOption:LazyNavOptData _lazyOpts
** (Advanced)
@NoDoc
new make(|This| f) {
f(this)
if (_lazyOpts == null)
_lazyOpts = NavOption:LazyNavOptData[:]
}
** Return the 'NavOption.demo' data (if any) from the nav options.
** Convenience for:
**
** syntax: fantom
** navData.getOption(NavOption.demo)
NavOptionDemo? demoData() {
_lazyOpts[NavOption.demo]?.get
}
** Returns 'NavOption' data. Example:
**
** syntax: fantom
** demoData := navData[NavOption.demo]
**
** Returns 'null' if it doesn't exist.
**
** Option data is usually a map of maps using strings as keys. Inspect the data to find out.
@Operator
Obj? getOption(NavOption navOpt) {
_lazyOpts[navOpt]?.get
}
** Returns a list of options available via 'getOption()'.
NavOption[] optionKeys() {
_lazyOpts.keys
}
** Returns 'true' if the nav data contains the given option.
Bool contains(NavOption navOpt) {
_lazyOpts.containsKey(navOpt)
}
}
** Standard state flags returned by the drone.
const class NavDataFlags {
private static const Method[] flagMethods := NavDataFlags#.methods.findAll { it.returns == Bool# && it.params.isEmpty && it.parent == NavDataFlags# }
** The raw flags data.
const Int data
** (Advaned) Used by the 'dump()' methods.
@NoDoc
const |Method,Bool?->Str| logFlagValue := |Method method, Bool? oldVal -> Str| {
val := method.callOn(this, null)
buf := StrBuf(64)
buf.add(method.name.padr(28, '.'))
if (oldVal != null)
buf.add(oldVal).add(" --> ")
buf.add(val)
return buf.toStr
}
@NoDoc
new make(Int data, |This|? f := null) {
this.data = data
f?.call(this)
}
** The drone is in the air.
Bool flying() { data.and(1.shiftl( 0)) != 0 }
Bool videoEnabled() { data.and(1.shiftl( 1)) != 0 }
Bool visionEnabled() { data.and(1.shiftl( 2)) != 0 }
Bool eulerAnglesControl() { data.and(1.shiftl( 3)) == 0 } // yep - this is correct!
Bool angularSpeedControl() { data.and(1.shiftl( 3)) != 0 }
Bool altitudeControlActive() { data.and(1.shiftl( 4)) != 0 }
Bool userFeedbackOn() { data.and(1.shiftl( 5)) != 0 } // start button?
Bool controlCommandAck() { data.and(1.shiftl( 6)) != 0 }
Bool cameraReady() { data.and(1.shiftl( 7)) != 0 }
Bool travellingEnabled() { data.and(1.shiftl( 8)) != 0 }
Bool usbReady() { data.and(1.shiftl( 9)) != 0 }
** NavData is being sent at ~ 200 times a second.
Bool hiResNavData() { data.and(1.shiftl(10)) == 0 } // yep - this is correct!
** Bootstap mode is on.
Bool bootstrapMode() { data.and(1.shiftl(11)) != 0 }
Bool motorProblem() { data.and(1.shiftl(12)) != 0 }
Bool communicationLost() { data.and(1.shiftl(13)) != 0 }
Bool gyrometersDown() { data.and(1.shiftl(14)) != 0 }
** Battery level is at or below 20%
Bool batteryTooLow() { data.and(1.shiftl(15)) != 0 }
** The user initiated an emergency landing (sent an emergency AT*REF command)
Bool userEmergencyLanding() { data.and(1.shiftl(16)) != 0 }
Bool timerElapsed() { data.and(1.shiftl(17)) != 0 }
Bool magnometerNeedsCalibration(){ data.and(1.shiftl(18)) != 0 }
** Drone exceeded maximum tilt. This also sets 'emergencyLanding'.
Bool anglesOutOufRange() { data.and(1.shiftl(19)) != 0 }
** Too much wind. (pffft!)
Bool tooMuchWind() { data.and(1.shiftl(20)) != 0 }
Bool ultrasonicSensorDeaf() { data.and(1.shiftl(21)) != 0 }
Bool cutOutDetected() { data.and(1.shiftl(22)) != 0 }
Bool picVersionNumberOK() { data.and(1.shiftl(23)) != 0 }
Bool atCodecThreadOn() { data.and(1.shiftl(24)) != 0 }
Bool navDataThreadOn() { data.and(1.shiftl(25)) != 0 }
Bool videoThreadOn() { data.and(1.shiftl(26)) != 0 }
Bool acquisitionThreadOn() { data.and(1.shiftl(27)) != 0 }
Bool controlWatchdogDelayed() { data.and(1.shiftl(28)) != 0 }
Bool adcWatchdogDelayed() { data.and(1.shiftl(29)) != 0 }
Bool comWatchdogProblem() { data.and(1.shiftl(30)) != 0 }
** The drone initiated an emergency landing.
Bool emergencyLanding() { data.and(1.shiftl(31)) != 0 }
** Dumps all flags out to debug string.
Str dump(Bool dumpToStdOut := true) {
dump := flagMethods.map { logFlagValue(it, null) }.join("\n")
if (dumpToStdOut)
echo(dump)
return dump
}
** Dumps to a debug string all flags that are different to the instance passed in.
** May return an empty string if nothing has changed.
**
** If 'null' is passed in, all old flags are assumed to be 'false'.
**
** Note this ignores changes to common flags 'comWatchdogProblem' and 'controlCommandAck'.
Str dumpChanged(NavDataFlags? oldFlags) {
oldFlags = oldFlags ?: NavDataFlags(0)
if (data.xor(oldFlags.data) == 0)
return ""
return flagMethods.exclude { it == #comWatchdogProblem || it == #controlCommandAck }.map |method->Str?| {
oldVal := method.callOn(oldFlags, null)
newVal := method.callOn(this, null)
return (newVal == oldVal) ? null : logFlagValue(method, oldVal)
}.exclude { it == null }.join("\n")
}
@NoDoc
override Str toStr() { dump }
}
** Standard telemetry data returned by the drone.
const class NavOptionDemo {
** Fly State
const DroneState droneState
** Control State
const FlightState flightState
** Battery voltage filtered (mV)
const Int batteryPercentage
** Pitch in milli-degrees
const Float theta
** Roll in milli-degrees
const Float phi
** Yaw in degrees, -180..180
const Float psi
** Altitude in metres
const Float altitude
** Estimated linear velocity
const Float velocityX
** Estimated linear velocity
const Float velocityY
** Estimated linear velocity
const Float velocityZ
** Streamed frame index. Not used -> To integrate in video stage.
const Int frameIndex
** (Deprecated) Camera parameters computed by detection
const Str:Obj cameraDetectionParams
** (Deprecated) Camera parameters computed by drone
const Str:Obj cameraDroneParams
@NoDoc
new make(|This| f) {
f(this)
// don't force test data to create deprecated params
if (cameraDetectionParams == null)
cameraDetectionParams = Str:Obj[:]
if (cameraDroneParams == null)
cameraDroneParams = Str:Obj[:]
}
** Dumps all fields to debug string.
Str dump(Bool dumpToStdOut := true) {
fields := typeof.fields.findAll { it.isPublic && it.parent == this.typeof }
values := Str:Obj[:]
fields.each { values[it.name] = it.get(this) }
dump := values.toStr // so it looks like the rest of the NavOption maps
if (dumpToStdOut)
echo(dump)
return dump
}
@NoDoc
override Str toStr() { dump(false) }
}
** Drone state as returned by 'NavData'.
enum class DroneState {
ok, lostAlt, lostAltGoDown, altOutZone, combinedYaw, brake, noVision, unknown; // unknown appears to be at index 11
}
** Flight state as returned by 'NavData'.
enum class FlightState {
def, init, landed, flying, hovering, test, transGotoFix, transTakeOff, transHovering, transLanding, transFlipping; // unknown appears to be at index 10!?
}
