硬编码一个航点到无人机套件

Question

我从无人机套件此源代码，我试图进行硬编码特定坐标的特定位置，使我们的无人机起飞，将在同一地点降落。这里要说的是，我与后无人驾驶飞机的武装，并准备去用户可以点击一个按钮选项链接代码。

public void onBtnbringmymail(View view) { 
    State vehicleState = this.drone.getAttribute(AttributeType.STATE); 

    if (vehicleState.isFlying()) { 
     // Land 
     VehicleApi.getApi(this.drone).setVehicleMode(VehicleMode.COPTER_LAND, new SimpleCommandListener() { 
      @Override 
      public void onError(int executionError) { 
       alertUser("Unable to land the vehicle."); 
      } 

      @Override 
      public void onTimeout() { 
       alertUser("Unable to land the vehicle."); 
      } 
     }); 
    } else if (vehicleState.isArmed()) { 
     // Take off 
     ControlApi.getApi(this.drone).takeoff(10, new AbstractCommandListener() { 

      @Override 
      public void onSuccess() { 
       alertUser("Taking off..."); 
      } 

      @Override 
      public void onError(int i) { 
       alertUser("Unable to take off."); 
      } 

      @Override 
      public void onTimeout() { 
       alertUser("Unable to take off."); 
      } 
     }); 
    } else if (!vehicleState.isConnected()) { 
     // Connect 
     alertUser("Connect to a drone first"); 
    } else { 
     // Connected but not Armed 
     VehicleApi.getApi(this.drone).arm(true, false, new SimpleCommandListener() { 
      @Override 
      public void onError(int executionError) { 
       alertUser("Unable to arm vehicle."); 
      } 

      @Override 
      public void onTimeout() { 
       alertUser("Arming operation timed out."); 
      } 
     }); 
    } 
} 

Answer 1

根据您的最新评论，步骤做会像：

• 按下按钮，执行ActionA
• ActionA由多个子行动 的**检查武装
• • 取走
• 个
  • 检查当前坐标和验证对目标坐标
• • • 如果等号，然后降落
• • • 如果不平等，CA lculate矢量并按照矢量

在伪代码，它应该是这样的：

public class Autopilot 
{ 

    // To be called by a button press 
    public void execute() 
    { 
     if(systems.isEngaged() AND systems.isLanded()) 
     { 
      takeOff(); 
     } 
    } 

    public void takeOff() 
    { 
     // Execute TakeOff procedures 

     validateFlightPath(); 
    } 

    public void validateFlightPath() 
    { 

     // Not within some meters to the target. 
     while(!systems.getGps().getCurrentCoordinates().withinRange(targetCoordinates, coordinateThreshold) 
     {   
      flyTo(targetCoordinates); 
     } 

     land(); 
    } 

    public void flyTo(Coordinates coords) 
    { 
     Coordinates currentCoords = system.getGps().getCurrentCoordinates(); 

     Vector3 flightVector = coords - currentCoords; 
     system.getFlightControls()... // Setup your flight controls to follow the flightVector; 
    } 

    public void land() 
    { 
     // Perform landing procedures 
    } 
}