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Merge pull request #628 from silkeh/tello-flightdata-struct 

tello: update FlightData struct
This commit is contained in:
Trevor Rosen 2018-12-19 16:52:48 -06:00 committed by GitHub
parent 86ae3b18e9 d7a05969c2
commit 209256b29d
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 22 additions and 11 deletions
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33
platforms/dji/tello/driver.go
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@ -6,6 +6,7 @@ import (
"errors"
"fmt"
"io"
"math"
"net"
"strconv"
"sync"
@ -144,19 +145,18 @@ type FlightData struct {
DroneFlyTimeLeft int16
DroneHover bool
EmOpen bool
EmSky bool
EmGround bool
Flying bool
OnGround bool
EastSpeed int16
ElectricalMachineryState int16
FactoryMode bool
FlyMode int8
FlySpeed int16
FlyTime int16
FrontIn bool
FrontLSC bool
FrontOut bool
GravityState bool
GroundSpeed int16
VerticalSpeed int16
Height int16
ImuCalibrationState int8
ImuState bool
@ -166,10 +166,8 @@ type FlightData struct {
PowerState bool
PressureState bool
SmartVideoExitMode int16
TemperatureHeight bool
TemperatureHigh bool
ThrowFlyTimer int8
WifiDisturb int8
WifiStrength int8
WindState bool
}
@ -583,7 +581,7 @@ func (d *Driver) ParseFlightData(b []byte) (fd *FlightData, err error) {
if err != nil {
return
}
err = binary.Read(buf, binary.LittleEndian, &fd.GroundSpeed)
err = binary.Read(buf, binary.LittleEndian, &fd.VerticalSpeed)
if err != nil {
return
}
@ -625,8 +623,8 @@ func (d *Driver) ParseFlightData(b []byte) (fd *FlightData, err error) {
if err != nil {
return
}
fd.EmSky = (data >> 0 & 0x1) == 1
fd.EmGround = (data >> 1 & 0x1) == 1
fd.Flying = (data >> 0 & 0x1) == 1
fd.OnGround = (data >> 1 & 0x1) == 1
fd.EmOpen = (data >> 2 & 0x1) == 1
fd.DroneHover = (data >> 3 & 0x1) == 1
fd.OutageRecording = (data >> 4 & 0x1) == 1
@ -665,7 +663,7 @@ func (d *Driver) ParseFlightData(b []byte) (fd *FlightData, err error) {
if err != nil {
return
}
fd.TemperatureHeight = (data >> 0 & 0x1) == 1
fd.TemperatureHigh = (data >> 0 & 0x1) == 1
return
}
@ -848,3 +846,16 @@ func (d *Driver) connectionString() string {
res := fmt.Sprintf("conn_req:%s", b)
return res
}
func (f *FlightData) AirSpeed() float64 {
return math.Sqrt(
math.Pow(float64(f.NorthSpeed), 2) +
math.Pow(float64(f.EastSpeed), 2) +
math.Pow(float64(f.VerticalSpeed), 2))
}
func (f *FlightData) GroundSpeed() float64 {
return math.Sqrt(
math.Pow(float64(f.NorthSpeed), 2) +
math.Pow(float64(f.EastSpeed), 2))
}