// Update is called once per frame
void Update()
{
positionData.update();
transform.localPosition = positionData.GetPosition();
transform.localRotation = Quaternion.Euler(positionData.GetRotation());
float groundAltitude = positionData.getGroundAltitude();
float droneAltitude = transform.localPosition.y;
//Debug.Log("ground: " + groundAltitude + drone: "+ droneAltitude + "m, height: "+ (droneAltitude- groundAltitude) + "m, distance: " + positionData.GetHomeDistance()+"m");
heightText.text = "Height: " + droneAltitude.ToString("F1") + "m a.s.l. Ground height: " + (droneAltitude - groundAltitude).ToString("F1") + "m Horizonal distance: " + positionData.GetHomeDistance().ToString("F1") + "m";
videoObjects.transform.localRotation = Quaternion.Euler(positionData.GetCameraRotation());
droneCamera.transform.localRotation = Quaternion.Euler(positionData.GetCameraRotation());
droneModel.transform.localRotation = Quaternion.Euler(positionData.GetPitchRoll() + new Vector3(0, 90, 0));
//vypíšeme hlášku o připojení k ROSbridge
if (rosConnector != null)
{
int state = rosConnector.GetComponent <MyRosConnector>().ConnectionState;
if (state == 1)
{
ConnectorText.text = "Connected";
}
else if (state == 2)
{
ConnectorText.text = "Problematic";
}
else if (state == 3)
{
ConnectorText.text = "Cennection lost" +
"" +
"" +
"" +
"";
}
else if (state == 0)
{
ConnectorText.text = "Connecting...";
}
else
{
ConnectorText.text = "Disonnected";
}
}
if (rosConnector != null)
{
rosConnector.GetComponent <IDroneImageSubscriber>().OptimalizeForProjector = isProjectorActive;
}
}
// Update is called once per frame
void Update()
{
positionData.update();
transform.localPosition = positionData.GetPosition();
transform.localRotation = Quaternion.Euler(positionData.GetRotation());
float groundAltitude = positionData.getGroundAltitude();
float droneAltitude = transform.localPosition.y;
//Debug.Log("ground: " + groundAltitude + drone: "+ droneAltitude + "m, height: "+ (droneAltitude- groundAltitude) + "m, distance: " + positionData.GetHomeDistance()+"m");
heightText.text = "Height: " + droneAltitude.ToString("F1") + "m a.s.l. Ground height: " + (droneAltitude - groundAltitude).ToString("F1") + "m Horizonal distance: " + positionData.GetHomeDistance().ToString("F1") + "m";
videoObjects.transform.localRotation = Quaternion.Euler(positionData.GetCameraRotation());
droneCamera.transform.localRotation = Quaternion.Euler(positionData.GetCameraRotation());
droneModel.transform.localRotation = Quaternion.Euler(positionData.GetPitchRoll() + new Vector3(0, 90, 0));
//vypíšeme hlášku o připojení k ROSbridge
if (rosConnector != null)
{
int state = rosConnector.GetComponent <MyRosConnector>().ConnectionState;
if (state == 1)
{
ConnectorText.text = "Connected";
}
else if (state == 2)
{
ConnectorText.text = "Problematic";
}
else if (state == 3)
{
ConnectorText.text = "Connection lost" +
"" +
"" +
"" +
"";
}
else if (state == 0)
{
ConnectorText.text = "Connecting...";
}
else
{
ConnectorText.text = "Disonnected";
}
}
if (rosConnector != null)
{
rosConnector.GetComponent <IDroneImageSubscriber>().OptimalizeForProjector = isProjectorActive;
}
if (nextUpdate > droneUpdateInterval)
{
nextUpdate = 0f;
Vector2d latitudelongitude = Map.WorldToGeoPosition(transform.localPosition);
Vector3 rotation = positionData.GetPitchRoll();
drone.FlightData.SetData(droneAltitude, latitudelongitude.x, latitudelongitude.y, pitch: rotation.x, roll: rotation.z, yaw: rotation.y + 90f, positionData.GetRotation().y);
WebSocketManager.Instance.SendDataToServer(JsonUtility.ToJson(drone.FlightData), logInfo: false);
}
nextUpdate += Time.deltaTime;
}