public void RunFrame()
{
connectionState = Tello.connectionState;
//Frame info
telloFrameCount++;
timeSinceLastUpdate = Time.time - prevDeltaTime;
prevDeltaTime = Time.time;
var deltaTime1 = (int)(timeSinceLastUpdate * 1000);
telloDeltaTime = new System.TimeSpan(0, 0, 0, 0, (deltaTime1));
//inputs
var inputs = inputController.CheckFlightInputs();
bool receivedInput = true;
if (inputs.w == 0 & inputs.x == 0 & inputs.y == 0 & inputs.z == 0)
{
receivedInput = false;
}
if (receivedInput & autoPilot.enabled)
{
Debug.Log("AutoPilot disabled due to user input");
ToggleAutoPilot(false);
}
//if we are flying the tello
if (sceneType != SceneType.SimOnly)
{
switch (flightStatus)
{
case FlightStatus.Launching:
telloManager.CheckForLaunchComplete();
break;
case FlightStatus.Flying:
bool validFrame = telloManager.SetTelloPosition();
if (!validFrame & autoPilot.enabled)
{
Debug.Log("AutoPilot disabled because Tello Lost Tracking");
ToggleAutoPilot(false);
}
break;
}
}
if (autoPilot.enabled)
{
inputs = autoPilot.RunAutoPilot(telloDeltaTime);
}
finalInputs = CalulateFinalInputs(inputs.x, inputs.y, inputs.z, inputs.w);
yaw = finalInputs.x;
elv = finalInputs.y;
roll = finalInputs.z;
pitch = finalInputs.w;
}
public void RunFrame()
{
connectionState = Tello.connectionState;
//Frame info
telloFrameCount++;
timeSinceLastUpdate = Time.time - prevDeltaTime;
prevDeltaTime = Time.time;
var deltaTime1 = (int)(timeSinceLastUpdate * 1000);
telloDeltaTime = new System.TimeSpan(0, 0, 0, 0, (deltaTime1));
//inputs
var inputs = inputController.CheckFlightInputs();
bool receivedInput = true;
if (inputs.w == 0 & inputs.x == 0 & inputs.y == 0 & inputs.z == 0)
{
receivedInput = false;
}
if (receivedInput & autoPilot.enabled)
{
Debug.Log("AutoPilot disabled due to user input");
ToggleAutoPilot(false);
}
//if we are flying the tello
if (sceneType != SceneType.SimOnly)
{
switch (flightStatus)
{
case FlightStatus.Launching:
telloManager.CheckForLaunchComplete();
break;
case FlightStatus.Flying:
bool validFrame = telloManager.SetTelloPosition();
if (!validFrame & autoPilot.enabled)
{
Debug.Log("AutoPilot disabled because Tello Lost Tracking");
ToggleAutoPilot(false);
}
break;
}
}
if (autoPilot.enabled)
{
inputs = autoPilot.RunAutoPilot(telloDeltaTime);
}
finalInputs = CalulateFinalInputs(inputs.x, inputs.y, inputs.z, inputs.w);
yaw = finalInputs.x;
elv = finalInputs.y;
roll = finalInputs.z;
pitch = finalInputs.w;
//yaw = inputs.x;
//elv = inputs.y;
//roll = inputs.z;
//pitch = inputs.w;
//switch (sceneType)
//{
// case SceneType.FlyOnly:
// telloManager.SendTelloInputs(finalInputs);
// break;
// case SceneType.SimOnly:
// break;
//}
//if()
//if (Input.GetKeyDown(KeyCode.Q))
//{
// inputController.ToggleAutoPilot(!inputController.autoPilotActive);
//}
//if (Input.GetKeyDown(KeyCode.E))
//{
// inputController.BeginFlightPath(FindObjectOfType<FlightPath>());
//}
//if (Tello.connected & sceneType != SceneType.SimOnly)
//{
// if (Input.GetKeyDown(KeyCode.T))
// {
// telloManager.OnTakeOff();
// }
// else if (Input.GetKeyDown(KeyCode.V))
// {
// telloManager.StartProps();
// }
// else if (Input.GetKeyDown(KeyCode.L))
// {
// telloManager.OnLand();
// }
// else if (Input.GetKeyDown(KeyCode.Joystick1Button0) || Input.GetKeyDown(KeyCode.Space))
// BeginTracking();
// telloManager.CustomUpdate();
//}
//if (sceneType != SceneType.FlyOnly)
//{
// simulator.CustomUpdate();
//}
}