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Waypoint Class

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This commit is contained in:
ArnoTlse 2021-03-24 00:37:50 +01:00
parent 3f0208e96a
commit ef5c999428
7 changed files with 220 additions and 31 deletions
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45
js/msp/MSPHelper.js
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@ -441,14 +441,24 @@ var mspHelper = (function (gui) {
break;
case MSPCodes.MSP_WP:
console.log("data : ",data);
MISSION_PLANER.bufferPoint.number = data.getUint8(0);
MISSION_PLANER.put(new Waypoint(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true) / 10000000,
data.getInt32(6, true) / 10000000,
data.getInt32(10, true),
data.getInt16(14, true),
data.getInt16(16, true),
data.getInt16(18, true)
));
/* MISSION_PLANER.bufferPoint.number = data.getUint8(0);
MISSION_PLANER.bufferPoint.action = data.getUint8(1);
MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
MISSION_PLANER.bufferPoint.lon = data.getInt32(6, true) / 10000000;
MISSION_PLANER.bufferPoint.alt = data.getInt32(10, true);
MISSION_PLANER.bufferPoint.p1 = data.getInt16(14, true);
MISSION_PLANER.bufferPoint.p2 = data.getInt16(16, true);
MISSION_PLANER.bufferPoint.p3 = data.getInt16(18, true);
MISSION_PLANER.bufferPoint.p3 = data.getInt16(18, true); */
break;
case MSPCodes.MSP_BOXIDS:
@ -1380,9 +1390,9 @@ var mspHelper = (function (gui) {
break;
case MSPCodes.MSP_WP_GETINFO:
// Reserved for waypoint capabilities data.getUint8(0);
MISSION_PLANER.maxWaypoints = data.getUint8(1);
MISSION_PLANER.isValidMission = data.getUint8(2);
MISSION_PLANER.countBusyPoints = data.getUint8(3);
MISSION_PLANER.setMaxWaypoints(data.getUint8(1));
MISSION_PLANER.setValidMission(data.getUint8(2));
MISSION_PLANER.setCountBusyPoints(data.getUint8(3));
break;
case MSPCodes.MSP_SET_WP:
console.log('Point saved');
@ -1462,12 +1472,6 @@ var mspHelper = (function (gui) {
SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
}
break;
/* case MSPCodes.MSP2_INAV_SAFEHOME:
SAFEHOME.bufferPoint.number = data.getUint8(0);
SAFEHOME.bufferPoint.enabled = data.getUint8(1);
SAFEHOME.bufferPoint.lon = data.getInt32(2, true);
SAFEHOME.bufferPoint.lat = data.getInt32(6, true);
break; */
case MSPCodes.MSP2_INAV_SAFEHOME:
SAFEHOMES.put(new Safehome(
data.getUint8(0),
@ -2928,9 +2932,22 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
};
/* self.getSafehomeInfo = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, false, false, callback);
}; */
self.loadWaypoints = function (callback) {
MISSION_PLANER.flush();
getMissionInfo();
let waypointId = 0;
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
function nextWaypoint() {
waypointId++;
if (waypointId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
}
else {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
}
};
};
self.loadSafehomes = function (callback) {
SAFEHOMES.flush();