bool TriggerReset(SetBool.Request req, ref SetBool.Response resp)
{
Debug.Log("reset orientation service!");
droneController.TriggerReset();
droneController.ApplyMotorForce(Vector3.zero);
droneController.ApplyMotorTorque(Vector3.zero);
return(true);
}
bool ClearPathService(SetBool.Request req, ref SetBool.Response resp)
{
Debug.Log("clear path service!");
PathPlanner.Clear();
resp.message = "";
resp.success = true;
return(true);
}
bool ConstrainTorqueX(SetBool.Request req, ref SetBool.Response resp)
{
Debug.Log("constrain_torque_x service!");
droneController.ConstrainTorqueX = req.data;
resp.message = droneController.ConstrainTorqueX.ToString();
resp.success = true;
return(true);
}
void _SetGravity()
{
SetBool.Request req = new SetBool.Request();
SetBool.Response resp = new SetBool.Response();
req.data = _useGravity;
if (gravityService.call(req, ref resp))
{
Debug.Log("gravity service called: " + _useGravity);
}
}
bool ConstrainTorqueZ(SetBool.Request req, ref SetBool.Response resp)
{
Debug.Log("constrain_torque_z service!");
droneController.ConstrainTorqueZ = req.data;
resp.message = droneController.ConstrainTorqueZ.ToString();
resp.success = true;
// droneController.TriggerReset ();
droneController.ApplyMotorForce(Vector3.zero);
droneController.ApplyMotorTorque(Vector3.zero);
return(true);
}
bool GravityService(SetBool.Request req, ref SetBool.Response resp)
{
Debug.Log("gravity service!");
droneController.UseGravity = req.data;
resp.message = droneController.UseGravity.ToString();
resp.success = true;
// droneController.TriggerReset ();
droneController.ApplyMotorForce(Vector3.zero);
droneController.ApplyMotorTorque(Vector3.zero);
return(true);
}
void CallReset()
{
if (!init)
{
return;
}
SetBool.Request req = new SetBool.Request();
SetBool.Response resp = new SetBool.Response();
if (resetService.call(req, ref resp))
{
Debug.Log("reset called!");
}
}