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Navigation data are now stored and updated in Bebop.navData #16

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Navigation data are now stored and updated in Bebop.navData #16

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1243827
navigation data are now stored and updated in drone object
fbergama Jan 18, 2016
4108434
Syncing with upstream hybridgroup/node-bebop
fbergama May 13, 2016
b73b4cf
Movement vector can now be directly updated
fbergama May 30, 2016
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Empty file modified bin/updateCommands.js
100644 → 100755
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81 changes: 81 additions & 0 deletions lib/bebop.js
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Original file line number Diff line number Diff line change
Expand Up @@ -291,6 +291,74 @@ Bebop.prototype._packetReceiver = function(message) {
this._writePacket(this._createARStreamACK(arstreamFrame));
}

if( networkFrame.id === constants.BD_NET_DC_NAVDATA_ID ) {
var commandProject = networkFrame.data.readUInt8(0),
commandClass = networkFrame.data.readUInt8(1),
commandId = networkFrame.data.readUInt16LE(2);

// Attitude
if( commandProject==1 && commandClass == 4 && commandId == 6 ) {

var _roll = networkFrame.data.readFloatLE(4),
_pitch = networkFrame.data.readFloatLE(8),
_yaw = networkFrame.data.readFloatLE(12);

this.navData.attitude = {
roll: _roll,
pitch: _pitch,
yaw: _yaw
}
}

// Speed
if( commandProject==1 && commandClass == 4 && commandId == 5 ) {

var _vx = networkFrame.data.readFloatLE(4),
_vy = networkFrame.data.readFloatLE(8),
_vz = networkFrame.data.readFloatLE(12);

this.navData.speed = {
vx: _vx,
vy: _vy,
vz: _vz
}
}

// Altitude
if( commandProject==1 && commandClass == 4 && commandId == 8 ) {

var _altitude = networkFrame.data.readDoubleLE(4);
this.navData.altitude = _altitude;
}

// GPS
if( commandProject==1 && commandClass == 4 && commandId == 4 ) {
var _lat = networkFrame.data.readDoubleLE(4),
_lon = networkFrame.data.readDoubleLE(12),
_alt = networkFrame.data.readDoubleLE(20);

this.navData.pos = {
lat: _lat,
lon: _lon,
alt: _alt
};
}

// Camera
if( commandProject==1 && commandClass == 25 && commandId == 0 ) {
var _tilt = networkFrame.data.readUInt8(4),
_pan = networkFrame.data.readUInt8(5);

this.navData.cam = {
tilt: _tilt,
pan: _pan
};
}


this.emit("navdata", this.navData );
}

//
// libARCommands/Sources/ARCOMMANDS_Decoder.c#ARCOMMANDS_Decoder_DecodeBuffer
//
Expand Down Expand Up @@ -467,6 +535,19 @@ Bebop.prototype.counterClockwise = function(val) {
return this;
};

Bebop.prototype.setPCMD = function ( lr_mov, fw_bw_mov, up_down_mov, yaw_rot ) {
this._pcmd.flag = 1;
this._pcmd.roll = Math.max( -100, Math.min(lr_mov, 100 ) );
this._pcmd.pitch = Math.max( -100, Math.min(fw_bw_mov,100));
this._pcmd.gaz = Math.max( -100, Math.min(up_down_mov,100));
this._pcmd.yaw = Math.max( -100, Math.min(yaw_rot,100));
return this;
}

Bebop.prototype.getPCMD = function() {
return [ this._pcmd.roll || 0, this._pcmd.pitch || 0, this._pcmd.gaz || 0, this._pcmd.yaw || 0 ];
}

Bebop.prototype.stop = Bebop.prototype.level = function() {
this._pcmd = {
flag: 0,
Expand Down