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Code Issues Releases Activity

AndroidGCS: Joystick can now control UAV

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This commit is contained in:
James Cotton 2012-08-05 18:41:07 -05:00
parent 6ff3378dbe
commit 4c1171e1fb
4 changed files with 38 additions and 12 deletions
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2
androidgcs/AndroidManifest.xml
View File

@ -23,7 +23,7 @@
<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
<activity android:name="PFD" android:label="PFD" />
<activity android:name="Controller" android:label="@string/object_browser_name" />
<activity android:name="Controller" android:label="@string/controller_name" />
<activity android:name="Preferences" android:label="@string/preference_title" />
<activity android:name="UAVLocation" android:label="@string/location_name"/>
<activity android:name="ObjectEditor" android:label="ObjectEditor"

2
androidgcs/res/values/strings.xml
View File

@ -2,6 +2,7 @@
<resources>
<string name="app_name">OpenPilot GCS Home</string>
<string name="object_browser_name">Browser</string>
<string name="controller_name">Controller</string>
<string name="pfd_name">PFD</string>
<string name="location_name">Map</string>
<string name="logger_name">Logging</string>
@ -25,6 +26,5 @@
<string name="update_button">Update</string>
<string name="save_button">Save</string>
<string name="send_button">Send</string>
<string name="controller_name">Controller</string>
<string name="manual_control_values_">Manual control values:</string>
</resources>

44
androidgcs/src/org/openpilot/androidgcs/Controller.java
View File

@ -11,6 +11,7 @@ import org.openpilot.uavtalk.UAVObjectField;
import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
import android.os.Bundle;
import android.os.Handler;
@ -50,6 +51,18 @@ public class Controller extends ObjectManagerActivity {
manualView.setText("Hello");
}
Observer settingsUpdated = new Observer() {
@Override
public void update(Observable observable, Object data) {
// Once we have updated settings we can active the GCS receiver mode
Log.d(TAG,"Got update from settings");
activateGcsReceiver();
UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
if(manualControlSettings != null) {
manualControlSettings.removeUpdatedObserver(this);
}
}
};
@Override
void onOPConnected() {
@ -60,16 +73,25 @@ public class Controller extends ObjectManagerActivity {
if(manualControl != null) {
manualControl.addUpdatedObserver(updatedObserver);
}
activateGcsReceiver();
DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
if(manualControlSettings != null) {
Log.d(TAG, "Requested settings update");
manualControlSettings.addUpdatedObserver(updatedObserver);
manualControlSettings.updateRequested();
}
final double MOVEMENT_RANGE = 50.0;
DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
// Hardcode a Mode 1 listener for now
joystick.setOnJostickMovedListener(new JoystickMovedListener() {
public void OnMoved(int pan, int tilt) {
pitch = -(double) tilt / 10.0;
yaw = (double) pan / 10.0;
pitch = (double) tilt / MOVEMENT_RANGE;
yaw = (double) pan / MOVEMENT_RANGE;
updated = true;
leftJoystickHeld = true;
}
@ -78,8 +100,11 @@ public class Controller extends ObjectManagerActivity {
public void OnReturnedToCenter() { }
}, new JoystickMovedListener() {
public void OnMoved(int pan, int tilt) {
throttle = (double) (tilt + 10) / 20.0;
roll = (double) pan / 10.0;
throttle = (double) (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
throttle *= 0.5;
if (throttle < 0)
throttle = -1;
roll = (double) pan / MOVEMENT_RANGE;
updated = true;
rightJoystickHeld = true;
}
@ -120,7 +145,7 @@ public class Controller extends ObjectManagerActivity {
});
}
};
sendTimer.schedule(controllerTask, 500, 50);
sendTimer.schedule(controllerTask, 500, 100);
}
/**
@ -155,6 +180,7 @@ public class Controller extends ObjectManagerActivity {
*/
private void activateGcsReceiver() {
UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
if (manualControlSettings == null) {
Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
return;

2
androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
View File

@ -159,7 +159,7 @@ public class TelemetryMonitor extends Observable{
// objPending = null;
if(!success) {
Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
return;
}