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Feature prearm alert #144

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Merged
merged 3 commits into from
May 26, 2015
Merged

Feature prearm alert #144

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e944306
added case to handle prearm alert message.
m4gr3d May 21, 2015
0cf2fa7
Merge branch 'feature_ekf_state_support' of github.com:DroidPlanner/D…
m4gr3d May 26, 2015
651c4a3
Added support for arm readiness message parsing and broadcasting.
m4gr3d May 26, 2015
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27 changes: 24 additions & 3 deletions dependencyLibs/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import com.MAVLink.common.msg_heartbeat;
import com.MAVLink.common.msg_mission_current;
import com.MAVLink.common.msg_mission_item;
import com.MAVLink.common.msg_named_value_int;
import com.MAVLink.common.msg_nav_controller_output;
import com.MAVLink.common.msg_radio_status;
import com.MAVLink.common.msg_raw_imu;
Expand All @@ -26,6 +27,7 @@
import com.MAVLink.common.msg_sys_status;
import com.MAVLink.common.msg_vfr_hud;
import com.MAVLink.enums.MAV_MODE_FLAG;
import com.MAVLink.enums.MAV_SEVERITY;
import com.MAVLink.enums.MAV_STATE;
import com.MAVLink.enums.MAV_SYS_STATUS_SENSOR;

Expand All @@ -37,9 +39,6 @@
*/
public class MavLinkMsgHandler {

private static final byte SEVERITY_HIGH = 3;
private static final byte SEVERITY_CRITICAL = 4;

private Drone drone;

public MavLinkMsgHandler(Drone drone) {
Expand Down Expand Up @@ -147,6 +146,10 @@ public void receiveData(MAVLinkMessage msg) {
drone.getCamera().updateMountOrientation(((msg_mount_status) msg));
break;

case msg_named_value_int.MAVLINK_MSG_ID_NAMED_VALUE_INT:
processNamedValueInt((msg_named_value_int) msg);
break;

//*************** GoPro messages handling **************//
case msg_gopro_heartbeat.MAVLINK_MSG_ID_GOPRO_HEARTBEAT:
drone.getGoProImpl().onHeartBeat((msg_gopro_heartbeat) msg);
Expand Down Expand Up @@ -183,6 +186,24 @@ public void receiveData(MAVLinkMessage msg) {
}
}

private void processNamedValueInt(msg_named_value_int message){
if(message == null)
return;

switch (message.getName()) {
case "ARMMASK":
//Give information about the vehicle's ability to arm successfully.
final ApmModes vehicleMode = drone.getState().getMode();
if (ApmModes.isCopter(vehicleMode.getType())) {
final int value = message.value;
final boolean isReadyToArm = (value & (1 << vehicleMode.getNumber())) != 0;
final String armReadinessMsg = isReadyToArm ? "READY TO ARM" : "UNREADY FOR ARMING";
drone.logMessage(MAV_SEVERITY.MAV_SEVERITY_NOTICE, armReadinessMsg);
}
break;
}
}

private void checkIfFlying(msg_heartbeat msg_heart) {
final byte systemStatus = msg_heart.system_status;
final boolean wasFlying = drone.getState().isFlying();
Expand Down
3 changes: 3 additions & 0 deletions dependencyLibs/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
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Expand Up @@ -177,6 +177,9 @@ private void initialize() {
}

private void disable() {
if(state == GuidedStates.UNINITIALIZED)
return;

state = GuidedStates.UNINITIALIZED;
myDrone.notifyDroneEvent(DroneEventsType.GUIDEDPOINT);
}
Expand Down
6 changes: 3 additions & 3 deletions dependencyLibs/Core/src/org/droidplanner/core/drone/variables/State.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
import com.MAVLink.enums.EKF_STATUS_FLAGS;

public class State extends DroneVariable {
private static final long ERROR_ON_SCREEN_TIMEOUT = 5000;
private static final long ERROR_TIMEOUT = 5000l;

private final AutopilotWarningParser warningParser;

Expand Down Expand Up @@ -85,7 +85,7 @@ public boolean parseAutopilotError(String errorMsg){
}

watchdog.removeCallbacks(watchdogCallback);
this.watchdog.postDelayed(watchdogCallback, ERROR_ON_SCREEN_TIMEOUT);
this.watchdog.postDelayed(watchdogCallback, ERROR_TIMEOUT);
return true;
}

Expand All @@ -94,7 +94,7 @@ public void repeatWarning(){
return;

watchdog.removeCallbacks(watchdogCallback);
this.watchdog.postDelayed(watchdogCallback, ERROR_ON_SCREEN_TIMEOUT);
this.watchdog.postDelayed(watchdogCallback, ERROR_TIMEOUT);
}

public void setArmed(boolean newState) {
Expand Down