Merge branch 'release/v1.0'

app/build.gradle

@@ -9,8 +9,8 @@ android {
         applicationId "com.fewlaps.flone"
         minSdkVersion 15
         targetSdkVersion 23
-        versionCode 6
-        versionName "0.5 beta"
+        versionCode 7
+        versionName "1.0"
         testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
     }
     lintOptions {
@@ -42,6 +42,7 @@ dependencies {
     testCompile "org.mockito:mockito-core:1.9.5"
     testCompile 'org.apache.maven:maven-ant-tasks:2.1.3'
     testCompile "org.robolectric:robolectric:3.0-rc3"
+    testCompile 'org.assertj:assertj-core:1.7.0'
 
     // @see https://google.github.io/android-testing-support-library/docs/espresso
     // @see https://google.github.io/android-testing-support-library/downloads

app/src/main/AndroidManifest.xml

@@ -28,12 +28,15 @@
             android:screenOrientation="portrait" />
         <activity
             android:name=".view.activity.FlyActivity"
-            android:launchMode="singleInstance"
             android:screenOrientation="portrait" />
         <activity
             android:name=".view.activity.CalibrationActivity"
             android:screenOrientation="portrait"
             android:theme="@style/AppTheme.NoActionBar" />
+        <activity
+            android:name=".view.activity.PreferenceActivity"
+            android:screenOrientation="portrait"
+            android:theme="@style/AppTheme.NoActionBar" />
 
         <service android:name=".service.DroneService" />
     </application>

app/src/main/java/com/fewlaps/flone/DesiredPitchRollCalculator.java

@@ -0,0 +1,56 @@
+package com.fewlaps.flone;
+
+/**
+ * A tool to get the pitch and yaw the user wants to send to the drone.
+ * <p/>
+ * Usually, users won't want to send a 2000 or a 1000, because it's a too high value. So,
+ * we'll have to map the input of the user to the bounds he previously set.
+ * <p/>
+ * A limit of 100 makes the min to be 1100 and the max to be 1900.
+ */
+public class DesiredPitchRollCalculator {
+
+    public static final int MID = 1500;
+
+    public static final int MIN_LIMIT = 0;
+    public static final int MAX_LIMIT = 500;
+
+    private int limit = 0;
+
+    public DesiredPitchRollCalculator(int limit) {
+        this.limit = limit;
+    }
+
+    public void setLimit(int limit) {
+        this.limit = limit;
+    }
+
+    public int getValue(int value) {
+        int absolute = getAbsolute(value);
+
+        int calculatedValue = map(absolute, MIN_LIMIT, MAX_LIMIT, MIN_LIMIT, MAX_LIMIT - limit);
+
+        if (value > MID) {
+            return MID + calculatedValue;
+        } else {
+            return MID - calculatedValue;
+        }
+    }
+
+    public int getAbsolute(int value) {
+        if (value > MID) {
+            return value - MID;
+        } else {
+            int absolute = value - MID;
+            return absolute * -1;
+        }
+    }
+
+    /**
+     * This is the common Arduino map() function, expressed in Java
+     * http://stackoverflow.com/questions/7505991/arduino-map-equivalent-function-in-java
+     */
+    private int map(int x, int inMin, int inMax, int outMin, int outMax) {
+        return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin;
+    }
+}

app/src/main/java/com/fewlaps/flone/DesiredYawCalculator.java

@@ -3,9 +3,6 @@
 /**
  * A tool to get the yaw the user wants to send to the drone. The idea is that
  * droneHeading and desiresHeading are values from -180 to 180.
- *
- * @author Roc Boronat (roc@fewlaps.com)
- * @date 05/07/2015
  */
 public class DesiredYawCalculator {
     public double getYaw(double droneHeading, double phoneHeading) {

app/src/main/java/com/fewlaps/flone/data/CalibrationDatabase.java

@@ -4,37 +4,55 @@
 import android.content.SharedPreferences;
 import android.preference.PreferenceManager;
 
+import com.fewlaps.flone.data.bean.DroneCalibrationData;
 import com.fewlaps.flone.data.bean.PhoneCalibrationData;
 import com.google.gson.Gson;
 
-/**
- * @author Roc Boronat (roc@fewlaps.com)
- * @date 19/02/2015
- */
 public class CalibrationDatabase {
 
     private static final Gson GSON = new Gson();
 
     private static final String PREF_PHONE_CALIBRATION = "prefPhoneCalibration";
+    private static final String PREF_DRONE_CALIBRATION = "prefDroneCalibration";
 
-    private static PhoneCalibrationData cachedData = null;
+    private static PhoneCalibrationData phoneCacheData = null;
+    private static DroneCalibrationData droneCacheData = null;
 
     public static PhoneCalibrationData getPhoneCalibrationData(Context context) {
-        if (cachedData == null) {
+        if (phoneCacheData == null) {
             SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(context);
             String value = preferences.getString(PREF_PHONE_CALIBRATION, null);
             if (value != null) {
-                cachedData = GSON.fromJson(value, PhoneCalibrationData.class);
+                phoneCacheData = GSON.fromJson(value, PhoneCalibrationData.class);
             } else {
-                cachedData = new PhoneCalibrationData();
+                phoneCacheData = new PhoneCalibrationData();
             }
         }
-        return cachedData;
+        return phoneCacheData;
     }
 
     public static void setPhoneCalibrationData(Context context, PhoneCalibrationData data) {
         SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(context);
         preferences.edit().putString(PREF_PHONE_CALIBRATION, GSON.toJson(data)).commit();
-        cachedData = data;
+        phoneCacheData = data;
+    }
+
+    public static DroneCalibrationData getDroneCalibrationData(Context context, String droneNickName) {
+        if (droneCacheData == null) {
+            SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(context);
+            String value = preferences.getString(PREF_DRONE_CALIBRATION + droneNickName, null);
+            if (value != null) {
+                droneCacheData = GSON.fromJson(value, DroneCalibrationData.class);
+            } else {
+                droneCacheData = new DroneCalibrationData();
+            }
+        }
+        return droneCacheData;
+    }
+
+    public static void setDroneCalibrationData(Context context, String droneNickName, DroneCalibrationData data) {
+        SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(context);
+        preferences.edit().putString(PREF_DRONE_CALIBRATION + droneNickName, GSON.toJson(data)).commit();
+        droneCacheData = data;
     }
 }

app/src/main/java/com/fewlaps/flone/data/DefaultValues.java

@@ -0,0 +1,8 @@
+package com.fewlaps.flone.data;
+
+public class DefaultValues {
+
+    public static final double DEFAULT_PHONE_PITCH_ROLL = 100;
+
+    public static final int DEFAULT_PITCH_ROLL_LIMIT = 300; //low = expert, high = beginner, min = 0, max = 500
+}

app/src/main/java/com/fewlaps/flone/data/bean/DroneCalibrationData.java

@@ -0,0 +1,14 @@
+package com.fewlaps.flone.data.bean;
+
+public class DroneCalibrationData {
+
+    private double headingDifference = 0;
+
+    public double getHeadingDifference() {
+        return headingDifference;
+    }
+
+    public void setHeadingDifference(double headingDifference) {
+        this.headingDifference = headingDifference;
+    }
+}

app/src/main/java/com/fewlaps/flone/data/bean/PhoneCalibrationData.java

@@ -1,20 +1,18 @@
 package com.fewlaps.flone.data.bean;
 
-/**
- * @author Roc Boronat (roc@fewlaps.com)
- * @date 26/05/2015
- */
+import com.fewlaps.flone.data.DefaultValues;
+
 public class PhoneCalibrationData {
-    public Double minPitch;
-    public Double maxPitch;
-    public Double minRoll;
-    public Double maxRoll;
+
+    private Double minPitch = DefaultValues.DEFAULT_PHONE_PITCH_ROLL * -1;
+    private Double maxPitch = DefaultValues.DEFAULT_PHONE_PITCH_ROLL;
+    private Double minRoll = DefaultValues.DEFAULT_PHONE_PITCH_ROLL * -1;
+    private Double maxRoll = DefaultValues.DEFAULT_PHONE_PITCH_ROLL;
+
+    private int limit = DefaultValues.DEFAULT_PITCH_ROLL_LIMIT;
 
     public PhoneCalibrationData() {
-        minPitch = -50d;
-        maxPitch = 50d;
-        minRoll = -50d;
-        maxRoll = 50d;
+
     }
 
     public double getAverageMaxPitch() {
@@ -24,4 +22,12 @@ public double getAverageMaxPitch() {
     public double getAverageMaxRoll() {
         return ((minRoll * -1) + maxRoll) / 2;
     }
+
+    public int getLimit() {
+        return limit;
+    }
+
+    public void setLimit(int limit) {
+        this.limit = limit;
+    }
 }

app/src/main/java/com/fewlaps/flone/io/bean/CalibrateDroneAccelerometerRequest.java

@@ -0,0 +1,5 @@
+package com.fewlaps.flone.io.bean;
+
+public class CalibrateDroneAccelerometerRequest {
+
+}

app/src/main/java/com/fewlaps/flone/io/bean/CalibrateDroneMagnetometerRequest.java

@@ -0,0 +1,5 @@
+package com.fewlaps.flone.io.bean;
+
+public class CalibrateDroneMagnetometerRequest {
+
+}

app/src/main/java/com/fewlaps/flone/io/bean/CalibrationDataChangedEvent.java

@@ -0,0 +1,5 @@
+package com.fewlaps.flone.io.bean;
+
+public class CalibrationDataChangedEvent {
+
+}

app/src/main/java/com/fewlaps/flone/io/bean/DelayData.java

@@ -0,0 +1,10 @@
+package com.fewlaps.flone.io.bean;
+
+public class DelayData {
+
+    public int delay;
+
+    public DelayData(int delay) {
+        this.delay = delay;
+    }
+}

app/src/main/java/com/fewlaps/flone/io/communication/RCSignals.java

@@ -37,8 +37,8 @@ public byte getId() {
 
     public static byte ROLL = 0;
     public static byte PITCH = 1;
-    public static byte YAW = 2;
-    public static byte THROTTLE = 3;
+    public static byte YAW = 3;
+    public static byte THROTTLE = 2;
     public static byte AUX1 = 4;
     public static byte AUX2 = 5;
     public static byte AUX3 = 6;

app/src/main/java/com/fewlaps/flone/io/communication/protocol/MultiWii230.java

@@ -2,8 +2,8 @@
 
 import android.util.Log;
 
-import com.fewlaps.flone.io.communication.Communication;
 import com.fewlaps.flone.io.bean.DroneSensorData;
+import com.fewlaps.flone.io.communication.Communication;
 
 import java.util.ArrayList;
 import java.util.LinkedList;
@@ -229,7 +229,7 @@ public void evaluateCommand(byte cmd, int dataSize) {
                 setIs_ATTITUDE_received(true);
                 attitudeReceivedTime = System.currentTimeMillis();
 //                Log.d("aaa", "MSP_ATTITUDE: angx = " + angx + ",angy = " + angy + ",head = " + head);
-                sensorInformation.update(head, angy, angx);
+                sensorInformation.update(head - 180, angy, angx); //180 to work with Cleanfight
                 EventBus.getDefault().post(sensorInformation);
                 break;
             case MSP_ALTITUDE:

app/src/main/java/com/fewlaps/flone/io/input/phone/ScreenThrottleData.java

@@ -45,15 +45,19 @@ public void setThrottle(Integer screenPosition) {
         this.throttle = RCSignals.RC_MIN + chosenThrottle;
     }
 
-    public void setThrottleAtMid() {
-        this.throttle = RCSignals.RC_MID;
-    }
-
     public float getThrottleScreenPosition() {
         return screenHeight - ((throttle - RCSignals.RC_MIN) * screenHeight / RCSignals.RC_GAP);
     }
 
     public int getThrottlePorcentage() {
         return (throttle - RCSignals.RC_MIN) * 100 / RCSignals.RC_GAP;
     }
+
+    public void setThrottleAtMid() {
+        this.throttle = RCSignals.RC_MID;
+    }
+
+    public void setThrottleAtZero() {
+        this.throttle = RCSignals.RC_MIN;
+    }
 }