public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
base.StartCommand(_flightController, _leader, _drone);
startPosition = _leader.position;
startRotation = _leader.rotation;
// If we are landing on the floor, the targeted positions are the given position projected onto the floor.
if (floorLanding)
{
targetPosition.y = _flightController.GetFloorHeight();
}
touchDownHeight = targetPosition.y + _flightController.GetTriggerHeight_TouchDown();
shutOffHeight = targetPosition.y + flightController.GetTriggerHeight_ShutOff();
target_TouchDownTrigger.rotation = targetRotation;
target_TouchDownTrigger.position = targetPosition;
target_TouchDownTrigger.position.y = touchDownHeight;
time = Vector3.Distance(startPosition, target_TouchDownTrigger.position) / landingSpeed;
currentState = LandingState.MoveTo;
}
public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
base.StartCommand(_flightController, _leader, _drone);
targetPosition = leader.position;
targetRotation = leader.rotation;
}
/// <summary>
/// When this command is started, it gets the Drones last takeOff pose and sets it as the landing target.
/// </summary>
public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
Pose startPose = _flightController.GetDroneStartingPose();
targetPosition = startPose.position;
targetRotation = startPose.rotation;
base.StartCommand(_flightController, _leader, _drone);
}
/// <summary>
/// Starts the current Command and sets up necessary members.
/// </summary>
/// <param name="_flightController">The FlightController-instance handling the commands.</param>
/// <param name="_leader">The leader-object we control.</param>
/// <param name="_drone">The drone-object.</param>
public virtual void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
flightController = _flightController;
leader = _leader;
drone = _drone;
startTime = Time.time;
SetFlightModeAtCommandStart();
}
/// <summary>
/// When this Command is started, we set the landing pose to be the current pose (of leader or drone).
/// </summary>
public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
if (landAtDroneInsteadOfLeader)
{
_leader.position = _drone.position;
_leader.rotation = _drone.rotation;
}
targetPosition = _leader.position;
targetRotation = _leader.rotation;
base.StartCommand(_flightController, _leader, _drone);
}
public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
base.StartCommand(_flightController, _leader, _drone);
startPosition = leader.position;
startRotation = leader.rotation;
if (!manualTimeSet)
{
if (speed <= 0)
{
time = 0;
}
else
{
time = Vector3.Distance(startPosition, targetPosition) / speed;
}
}
}
public override void StartCommand(DHUI_FlightController _flightController, Transform _leader, Transform _drone)
{
base.StartCommand(_flightController, _leader, _drone);
}
/// <summary>
/// On Start: Check if everything necessary is set up correctly.
/// </summary>
private void Start()
{
if (_target == null)
{
DHUI_FlightController flightController = FindObjectOfType <DHUI_FlightController>();
if (flightController != null)
{
_target = flightController.transform;
Debug.Log("<b>DHUI</b> | DroneController | No Transform for Target was set in Inspector -> Defaulting to transform of DHUI_FlightController. (\"" + _target.gameObject.name + "\")");
}
else
{
Debug.LogError("<b>DHUI</b> | DroneController | No Transform for Target was set in Inspector and no DHUI_FlightController could be found in Scene. Please set a Target in the Unity Inspector.");
}
}
if (_virtualDrone == null)
{
_virtualDrone = transform;
Debug.Log("<b>DHUI</b> | DroneController | No Transform for VirtualDrone was set in Inspector -> Defaulting to this transform. (\"" + gameObject.name + "\")");
}
if (_droneTracker == null)
{
_droneTracker = FindObjectOfType <DHUI_DroneTracking_Base>();
if (_droneTracker != null)
{
Debug.Log("<b>DHUI</b> | DroneController | No DHUI_DroneTracking_Base was set in Inspector -> Found one in the scene on \"" + _droneTracker.gameObject.name + "\".");
}
else
{
Debug.LogError("<b>DHUI</b> | DroneController | No DHUI_DroneTracking_Base was set in Inspector and none was found in the scene.");
}
}
if (_PIDCalculator == null)
{
_PIDCalculator = FindObjectOfType <DHUI_PIDCalculation>();
if (_PIDCalculator != null)
{
Debug.Log("<b>DHUI</b> | DroneController | No DHUI_PIDCalculation was set in Inspector -> Found one in the scene on \"" + _PIDCalculator.gameObject.name + "\".");
}
else
{
Debug.LogError("<b>DHUI</b> | DroneController | No DHUI_PIDCalculation was set in Inspector and none was found in the scene.");
}
}
if (_output == null)
{
_output = FindObjectOfType <DHUI_Output>();
if (_output != null)
{
Debug.Log("<b>DHUI</b> | DroneController | No DHUI_Output was set in Inspector -> Found one in the scene on \"" + _output.gameObject.name + "\".");
}
else
{
Debug.LogError("<b>DHUI</b> | DroneController | No DHUI_Output was set in Inspector and none was found in the scene.");
}
}
if (_emergencyInputs == null)
{
_emergencyInputs = FindObjectOfType <DHUI_EmergencyInput_Base>();
if (_emergencyInputs != null)
{
Debug.Log("<b>DHUI</b> | DroneController | No DHUI_EmergencyInput was set in Inspector -> Found one in the scene on \"" + _emergencyInputs.gameObject.name + "\".");
}
else
{
Debug.LogError("<b>DHUI</b> | DroneController | No DHUI_EmergencyInput_Base was set in Inspector and none was found in the scene.");
}
}
_emergencyInputs.Setup(this);
if (_target != null && _droneTracker != null && _output != null && _PIDCalculator != null && _emergencyInputs != null)
{
setupCorrect = true;
}
}
