public int startNavigation()
{
if (mDrone == null)
{
System.Diagnostics.Debug.WriteLine("startNavigation -> mDrone null");
return(-1);
}
// Check: is Compass ready?
if (!mDrone.iDroneCup_isCompassReady())
{
System.Diagnostics.Debug.WriteLine("startNavigation -> Compass error");
return(-2);
}
// Check: is GPS ready?
if (!mDrone.iDroneCup_isGpsReady())
{
System.Diagnostics.Debug.WriteLine("startNavigation -> GPS not ready");
return(-3);
}
// Check: home coordinates missing?
if (homeCoordinates.latitude == 0 || homeCoordinates.longitude == 0)
{
System.Diagnostics.Debug.WriteLine("startNavigation -> Home Coordinates not defined");
return(-4);
}
// Check: next waypoint missing?
if (nextCoordinates.latitude == 0 || nextCoordinates.longitude == 0)
{
System.Diagnostics.Debug.WriteLine("startNavigation -> Next Waypoint not defined");
return(-5);
}
// Check: is the drone on ground or landing
if (mDrone.iDroneCup_isLanded() || mDrone.iDroneCup_isLanding())
{
System.Diagnostics.Debug.WriteLine("startNavigation -> mDrone landed or landing");
return(-6);
}
runNavigation = true;
return(0);
}