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tello: update FlightData struct 

- Correct the name of EmSky, EmGround and GroundSpeed to Flying,
  OnGround and VerticalSpeed.
- Remove FlySpeed, WifiDisturb and WifiStrength as these are not part
  of the data.
- Add AirSpeed() and GroundSpeed() for calculating the airspeed and
  ground speed.

Signed-off-by: Silke Hofstra <silke@slxh.eu>
This commit is contained in:
Silke Hofstra 2018-10-04 11:19:17 +02:00
parent 8f3b295f51
commit d7a05969c2
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" "errors"
"fmt" "fmt"
"io" "io"
"math"
"net" "net"
"strconv" "strconv"
"sync" "sync"
@ -144,19 +145,18 @@ type FlightData struct {
DroneFlyTimeLeft int16 DroneFlyTimeLeft int16
DroneHover bool DroneHover bool
EmOpen bool EmOpen bool
EmSky bool Flying bool
EmGround bool OnGround bool
EastSpeed int16 EastSpeed int16
ElectricalMachineryState int16 ElectricalMachineryState int16
FactoryMode bool FactoryMode bool
FlyMode int8 FlyMode int8
FlySpeed int16
FlyTime int16 FlyTime int16
FrontIn bool FrontIn bool
FrontLSC bool FrontLSC bool
FrontOut bool FrontOut bool
GravityState bool GravityState bool
GroundSpeed int16 VerticalSpeed int16
Height int16 Height int16
ImuCalibrationState int8 ImuCalibrationState int8
ImuState bool ImuState bool
@ -166,10 +166,8 @@ type FlightData struct {
PowerState bool PowerState bool
PressureState bool PressureState bool
SmartVideoExitMode int16 SmartVideoExitMode int16
TemperatureHeight bool TemperatureHigh bool
ThrowFlyTimer int8 ThrowFlyTimer int8
WifiDisturb int8
WifiStrength int8
WindState bool WindState bool
} }
@ -583,7 +581,7 @@ func (d *Driver) ParseFlightData(b []byte) (fd *FlightData, err error) {
if err != nil { if err != nil {
return return
} }
err = binary.Read(buf, binary.LittleEndian, &fd.GroundSpeed) err = binary.Read(buf, binary.LittleEndian, &fd.VerticalSpeed)
if err != nil { if err != nil {
return return
} }
@ -625,8 +623,8 @@ func (d *Driver) ParseFlightData(b []byte) (fd *FlightData, err error) {
if err != nil { if err != nil {
return return
} }
fd.EmSky = (data >> 0 & 0x1) == 1 fd.Flying = (data >> 0 & 0x1) == 1
fd.EmGround = (data >> 1 & 0x1) == 1 fd.OnGround = (data >> 1 & 0x1) == 1
fd.EmOpen = (data >> 2 & 0x1) == 1 fd.EmOpen = (data >> 2 & 0x1) == 1
fd.DroneHover = (data >> 3 & 0x1) == 1 fd.DroneHover = (data >> 3 & 0x1) == 1
fd.OutageRecording = (data >> 4 & 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 { if err != nil {
return return
} }
fd.TemperatureHeight = (data >> 0 & 0x1) == 1 fd.TemperatureHigh = (data >> 0 & 0x1) == 1
return return
} }
@ -847,3 +845,16 @@ func (d *Driver) connectionString() string {
res := fmt.Sprintf("conn_req:%s", b) res := fmt.Sprintf("conn_req:%s", b)
return res 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))
}