void GestureDetection_RightHandBackForwardsChanged(object sender, HandPositionChangedArgs args)
{
switch (args.Position)
{
case HandPosition.Center:
break;
case HandPosition.Backwards:
{
_client.Progress(FlightMode.Progressive, pitch: 0.1f);
DroneCommandChanged(_client, new DroneCommandChangedEventArgs {
CommandText = "Backwards"
});
}
break;
case HandPosition.Forwards:
{
_client.Progress(FlightMode.Progressive, pitch: -0.1f);
DroneCommandChanged(_client, new DroneCommandChangedEventArgs {
CommandText = "Forwards"
});
}
break;
}
}
private void ReceiverOnCommandReceived(object sender, CommandEventArgs eventArgs)
{
Log(eventArgs.Command);
if (!_executeCommands)
{
return;
}
switch (eventArgs.Command)
{
case "takeoff":
_client.Takeoff();
break;
case "land":
_client.Land();
break;
case "hover":
_client.Hover();
break;
case "up":
_client.Progress(FlightMode.Progressive, gaz: 0.25f);
break;
case "turnleft":
_client.Progress(FlightMode.Progressive, yaw: 0.25f);
break;
case "forward":
_client.Progress(FlightMode.Progressive, pitch: -0.5f);
break;
case "turnright":
_client.Progress(FlightMode.Progressive, yaw: -0.25f);
break;
case "down":
_client.Progress(FlightMode.Progressive, gaz: -0.25f);
break;
case "left":
_client.Progress(FlightMode.Progressive, yaw: 0.25f);
break;
case "right":
_client.Progress(FlightMode.Progressive, roll: 0.05f);
break;
case "back":
_client.Progress(FlightMode.Progressive, pitch: 0.5f);
break;
default:
Debug.WriteLine("Unknown Command: " + eventArgs.Command);
break;
}
}
static void Main(string[] args)
{
var droneClient = new DroneClient("192.168.1.1");
SleepAndPaint(droneClient);
droneClient.Start();
SleepAndPaint(droneClient);
droneClient.Takeoff();
SleepAndPaint(droneClient);
droneClient.Progress(FlightMode.Progressive, yaw: -0.05f);
System.Console.WriteLine("Yaw -0.05");
SleepAndPaint(droneClient);
droneClient.Hover();
SleepAndPaint(droneClient);
droneClient.Land();
SleepAndPaint(droneClient);
droneClient.Stop();
SleepAndPaint(droneClient);
System.Console.ReadLine();
droneClient.Dispose();
}
static void FlyDroneJoystick()
{
var joystick = new JoystickDevice();
joystick.Initialize("/dev/input/js0");
while (true)
{
joystick.ProcessEvents();
var pitch = -joystick.AxisValues[0];
var roll = joystick.AxisValues[1];
var gaz = joystick.AxisValues[2];
var yaw = joystick.AxisValues[3];
drone.Progress(FlightMode.Progressive, roll, pitch, yaw, gaz);
Thread.Sleep(200);
}
}
private void DroneControls_KeyDown(object sender, KeyEventArgs e)
{
System.Diagnostics.Debug.WriteLine(e.Key);
switch (e.Key)
{
case Key.Left:
droneClient.Progress(FlightMode.Progressive, roll: -0.05f);
break;
case Key.Up:
droneClient.Progress(FlightMode.Progressive, gaz: 0.25f);
break;
case Key.Right:
droneClient.Progress(FlightMode.Progressive, roll: 0.05f);
break;
case Key.Down:
droneClient.Progress(FlightMode.Progressive, gaz: -0.25f);
break;
case Key.A:
droneClient.Progress(FlightMode.Progressive, yaw: 0.25f);
break;
case Key.D:
droneClient.Progress(FlightMode.Progressive, yaw: -0.25f);
break;
case Key.S:
droneClient.Progress(FlightMode.Progressive, pitch: 0.05f);
break;
case Key.W:
droneClient.Progress(FlightMode.Progressive, pitch: -0.05f);
break;
case Key.I:
droneClient.Takeoff();
break;
case Key.O:
droneClient.Land();
break;
default:
break;
}
}
/// <summary>
/// Pitches the drone forwards
/// </summary>
/// <returns>Boolean Value whether the command works properly</returns>
public bool PitchForward()
{
try
{
_client.Progress(flightMode, pitch: PITCHVAL);
return(true);
}
catch (Exception)
{
return(false);
}
}
/// <summary>
/// Sends the command with its parameters to a provided DroneClient
/// </summary>
/// <param name="aDroneClient">Drone client to the the command to</param>
public void Send(DroneClient aDroneClient)
{
switch (Command)
{
case Type.Progress: aDroneClient.Progress(ProgressMode, roll: Roll, pitch: Pitch, yaw: Yaw, gaz: Gaz); break;
case Type.Takeoff: aDroneClient.Takeoff(); break;
case Type.Hover: aDroneClient.Hover(); break;
case Type.Land: aDroneClient.Land(); break;
case Type.Emergency: aDroneClient.Emergency(); break;
case Type.ResetEmergency: aDroneClient.ResetEmergency(); break;
case Type.FlatTrim: aDroneClient.FlatTrim(); break;
}
}
void flyToObjective()
{
if (calculator == null)
{
calculator = new ControllerCalculations(analyzer.FovSize);
}
bool flight = true;
var state = droneClient.NavigationData.State;
if (state.HasFlag(NavigationState.Emergency))
{
return;
}
if (flight && state.HasFlag(NavigationState.Landed))
{
analyzer.ResultingCommand = "takeof";
analyzer.Navigation.SetMovement(Movements.TakeOff);
droneClient.Takeoff();
return;
}
if (analyzer.Detected)
{
if (droneClient.NavigationData.Altitude > 0.6 || !flight)
{
var width = analyzer.FovSize.Width / 2f;
var change = width - analyzer.Center.X;
var distance = calculator.GetDistance(new System.Drawing.Size(analyzer.Width, analyzer.Height));
analyzer.Distance = distance;
analyzer.Change = change;
var diff = calculator.GetDiff(distance); // (analyzer.Distance / analyzer.FovSize.Width) * 7.5f;
var yaw = config.SpaceConfig.TurnSpeed * 2f / 3f;
var roll = config.SpaceConfig.TurnSpeed / 3f;
if (change > diff)
{
if (flight)
{
droneClient.Progress(FlightMode.Progressive, roll: 0 - roll, yaw: 0 - yaw);
}
analyzer.ResultingCommand = $"left {change} {diff}";
analyzer.Navigation.SetMovement(Movements.Left);
}
else if (change < (0 - diff))
{
if (flight)
{
droneClient.Progress(FlightMode.Progressive, roll: roll, yaw: yaw);
}
analyzer.ResultingCommand = $"right {change} {diff}";
analyzer.Navigation.SetMovement(Movements.Right);
}
else
{
if (distance > config.SpaceConfig.MaxDistance)
{
analyzer.ResultingCommand = $"pitch {change}";
analyzer.Navigation.SetMovement(Movements.Ahead);
if (flight)
{
droneClient.Progress(FlightMode.Progressive, pitch: -0.05f);
}
}
else
{
analyzer.ResultingCommand = "hover";
analyzer.Navigation.SetMovement(Movements.Hover);
step = 1;
Logger.LogInfo("Step 1");
}
}
}
else
{
analyzer.Navigation.SetMovement(Movements.Up);
droneClient.Progress(FlightMode.Progressive, gaz: 0.25f);
analyzer.ResultingCommand = $"altitude {droneClient.NavigationData.Altitude}";
}
}
else
{
analyzer.ResultingCommand = "seek";
if (flight)
{
droneClient.Progress(FlightMode.Progressive, yaw: 0.10f);
}
}
}
/// <summary>
/// Lets the drone fly forward
/// </summary>
public void Forward()
{
_droneClient.Progress(FlightMode.Progressive, pitch: -this.Speed);
}
// Update is called once per frame
void Update()
{
convertCameraData();
updateGamepadState();
moveStick();
// Start or land the drone
if (state.Buttons.Start.Equals(ButtonState.Pressed) && !startButtonPressed)
{
if (isLanded)
{
droneClient.Takeoff();
}
else
{
droneClient.Land();
}
isLanded = !isLanded;
startButtonPressed = true;
}
if (!state.Buttons.Start.Equals(ButtonState.Pressed))
{
startButtonPressed = false;
}
// exit application
if (Input.GetKey("escape") || state.Buttons.Back.Equals(ButtonState.Pressed))
{
Application.Quit();
}
// Move the drone
var pitch = -state.ThumbSticks.Left.Y;
var roll = state.ThumbSticks.Left.X;
var gaz = state.Triggers.Right - state.Triggers.Left;
var yaw = state.ThumbSticks.Right.X;
droneClient.Progress(AR.Drone.Client.Command.FlightMode.Progressive, pitch: pitch, roll: roll, gaz: gaz, yaw: yaw);
// Switch drone camera
if (CameraForSwitchCheck.rotation.x >= SwitchRotation)
{
if (SecondaryRenderer.material.mainTexture != cameraTexture)
{
MainRenderer.material.mainTexture = blackTexture;
SecondaryRenderer.material.mainTexture = cameraTexture;
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Vertical);
}
}
else
{
if (MainRenderer.material.mainTexture != cameraTexture)
{
SecondaryRenderer.material.mainTexture = blackTexture;
MainRenderer.material.mainTexture = cameraTexture;
switchDroneCamera(AR.Drone.Client.Configuration.VideoChannelType.Horizontal);
}
}
// set status text
if (navigationData != null)
{
StatusText.text = string.Format("Battery: {0} % \nYaw: {1:f} \nPitch: {2:f} \nRoll: {3:f} \nAltitude: {4} m",
navigationData.Battery.Percentage, navigationData.Yaw, navigationData.Pitch,
navigationData.Roll, navigationData.Altitude);
}
// determine wifi strength
determineWifiStrength();
}
private void btnUp_Click(object sender, EventArgs e)
{
_droneClient.Progress(FlightMode.Progressive, gaz: 0.25f);
}
private void btnUp_Click(object sender, EventArgs e)
{
_droneClient.Progress(ProgressiveMode.CombinedYaw, gaz: 0.25f);
}
// pitch ++
private void button5_Click(object sender, EventArgs e)
{
// const float PITCHVAL = 0.05f;
_droneClient.Progress(AR.Drone.Client.Command.FlightMode.Progressive, pitch: PITCHVAL);
}
public void Roll(float roll)
{
_droneClient.Progress(ProgressiveMode.CombinedYaw, roll);
}
void DroneControl(object sender)
{
int expiration = Properties.Settings.Default.AutoPilotExpiration;
bool useQ = Properties.Settings.Default.UseAutoPilot;
_autopilot.Active = useQ;
float _lrfb = Properties.Settings.Default.DefaultLRFBSpeed;
float _yaw = Properties.Settings.Default.DefaultYawSpeed;
float _gaz = Properties.Settings.Default.DefaultGazSpeed;
#region // engine
if (sender == "v")
{
_droneClient.FlatTrim();
_autopilot.ClearObjectives();
_droneClient.Takeoff();
}
;
if (sender == "n")
{
_autopilot.ClearObjectives();
_droneClient.Emergency();
}
;
if (sender == "m")
{
_droneClient.ResetEmergency();
}
;
if (sender == "b")
{
_autopilot.ClearObjectives();
_droneClient.Land();
}
;
#endregion
_autopilot.Active = true;
// navigation
#region left right up down and hover
//if (sender == btnLeft || sender == btnRight)
//{
// if (useQ)
// {
// _autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(
// (sender == btnLeft ? -_lrfb : _lrfb)
// )));
// }
// else
// {
// _droneClient.Progress(FlightMode.Progressive,
// roll: (sender == btnLeft ? -_lrfb : _lrfb)
// );
// }
//}
if (sender == "a")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: -_lrfb);
}
}
;
if (sender == "d")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: _lrfb);
}
}
;
if (sender == "w")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: -_lrfb);
}
}
;
if (sender == "s")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: _lrfb);
}
}
;
if (sender == "x")
{
if (useQ)
{
_autopilot.EnqueueObjective(
Objective.Create(expiration,
new VelocityX(0.0f),
new VelocityY(0.0f),
new Altitude(1.0f)
));
}
else
{
_droneClient.Hover();
}
}
#endregion
#region yaw left and right
if (sender == "j")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(-_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: -_yaw);
}
}
;
if (sender == "l")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: _yaw);
}
}
;
#endregion
#region gaz up and down
if (sender == "i")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: _gaz);
}
//_droneClient.Hover();
}
;
if (sender == "k")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(-_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: -_gaz);
}
}
;
#endregion
}
//head dx, sx, up, down
private void OculusHandle()
{
oculusXText = "On Hold";
oculusYText = "On Hold";
var cameraPositionNew = OculusClient.GetOrientation();
var delta = headPositionStart.X - cameraPositionNew.X;
var compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= xThreshold)
{
if (compare > 0)
{
oculusXText = "Right";
if (lastCommandSent != CommandType.TurnRight)
{
lastCommandSent = CommandType.TurnRight;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: 0.4f);
}
}
else
{
oculusXText = "Left";
if (lastCommandSent != CommandType.TurnLeft)
{
lastCommandSent = CommandType.TurnLeft;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: -0.4f);
}
}
return;
}
delta = headPositionStart.Y - cameraPositionNew.Y;
compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= yThreshold)
{
if (compare > 0)
{
oculusYText = "Up";
if (lastCommandSent != CommandType.GoUp)
{
lastCommandSent = CommandType.GoUp;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: 0.4f);
}
}
else
{
oculusYText = "Down";
if (lastCommandSent != CommandType.GoDown)
{
lastCommandSent = CommandType.GoDown;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: -0.4f);
}
}
}
}
public void MoveLeft()
{
droneClient.Progress(FlightMode.Progressive, yaw: 0.25f);
}
