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APP-1697 Follow mode causes Solo to fly to user location (instead of … #328

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Merged
m4gr3d merged 1 commit into from
Nov 5, 2015
Merged

APP-1697 Follow mode causes Solo to fly to user location (instead of … #328

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16 changes: 14 additions & 2 deletions ServiceApp/src/org/droidplanner/services/android/core/gcs/location/FusedLocation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

import timber.log.Timber;

/**
* Feeds Location Data from Android's FusedLocation LocationProvider
*/
Expand Down Expand Up @@ -121,9 +123,11 @@ public void onLocationResult(LocationResult result) {
final float currentSpeed = distanceToLast > 0f && timeSinceLast > 0
? (distanceToLast / timeSinceLast)
: 0f;
final boolean isLocationAccurate = isLocationAccurate(androidLocation.getAccuracy(), currentSpeed);
final boolean isLocationAccurate = isLocationAccurate(androidLocation.getAccuracy(),
currentSpeed);

org.droidplanner.services.android.core.gcs.location.Location location = new org.droidplanner.services.android.core.gcs.location.Location(
org.droidplanner.services.android.core.gcs.location.Location location =
new org.droidplanner.services.android.core.gcs.location.Location(
new LatLongAlt(
androidLocation.getLatitude(),
androidLocation.getLongitude(),
Expand All @@ -134,6 +138,9 @@ public void onLocationResult(LocationResult result) {
androidLocationTime);

mLastLocation = androidLocation;

Timber.d("Location Lat/Long: " + getLatLongFromLocation(androidLocation));

notifyLocationUpdate(location);
}

Expand Down Expand Up @@ -170,6 +177,11 @@ private boolean isLocationAccurate(float accuracy, float currentSpeed) {
return true;
}

public String getLatLongFromLocation(final Location location) {
return Location.convert(location.getLatitude(), Location.FORMAT_DEGREES) + " " +
Location.convert(location.getLongitude(), Location.FORMAT_DEGREES);
}

@Override
public void addLocationListener(String tag, LocationReceiver receiver) {
receivers.put(tag, receiver);
Expand Down
3 changes: 2 additions & 1 deletion ServiceApp/src/org/droidplanner/services/android/utils/CommonApiUtils.java
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Original file line number Diff line number Diff line change
Expand Up @@ -920,7 +920,8 @@ public static void enableFollowMe(DroneManager droneMgr, Handler droneHandler, F

FollowAlgorithm currentAlg = followMe.getFollowAlgorithm();
if (currentAlg.getType() != selectedMode) {
if (selectedMode == FollowAlgorithm.FollowModes.SOLO_SHOT && !SoloApiUtils.isSoloLinkFeatureAvailable(droneMgr, listener))
if (selectedMode == FollowAlgorithm.FollowModes.SOLO_SHOT &&
!SoloApiUtils.isSoloLinkFeatureAvailable(droneMgr.getDrone(), listener))
return;

followMe.setAlgorithm(selectedMode.getAlgorithmType(droneMgr, droneHandler));
Expand Down