flight_sample.hpp

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#ifndef DJIOSDK_FLIGHT_SAMPLE_HPP
#define DJIOSDK_FLIGHT_SAMPLE_HPP

#include <dji_linux_helpers.hpp>
#include <dji_vehicle.hpp>

class FlightSample {
 public:
  FlightSample(Vehicle *vehicle);
  ~FlightSample();
  typedef struct Telemetry::Vector3f Vector3f;

  bool setUpSubscription(int pkgIndex, int freq,
                         Telemetry::TopicName topicList[], uint8_t topicSize,
                         int timeout = 1);

  bool teardownSubscription( const int pkgIndex,
                            int timeout = 1);

  bool getHomeLocation(Telemetry::HomeLocationSetStatus &homeLocationSetStatus,
                       Telemetry::HomeLocationData &homeLocationInfo,
                       int responseTimeout);

  bool checkActionStarted(uint8_t mode);

  ErrorCode::ErrorCodeType setGoHomeAltitude(
      FlightController::GoHomeHeight altitude, int timeout = 1);

  ErrorCode::ErrorCodeType setNewHomeLocation(int timeout = 1);

  bool goHomeAndConfirmLanding(int timeout = 1);

  bool monitoredTakeoff(int timeout = 1);

  bool moveByPositionOffset(const Vector3f &offsetDesired,
                            float yawDesiredInDeg,
                            float posThresholdInM = 0.5,
                            float yawThresholdInDeg = 1.0);

 private:
  Vehicle *vehicle;
  template <typename Type>
  static int signOfData(Type type);
  static float32_t vectorNorm(Vector3f v);
  static Vector3f vector3FSub(const Vector3f &vectorA, const Vector3f &vectorB);
  static Vector3f localOffsetFromGpsOffset(const Telemetry::GPSFused &target,
                                           const Telemetry::GPSFused &origin);
  static Vector3f quaternionToEulerAngle(const Telemetry::Quaternion &quat);
  static void  horizCommandLimit(float speedFactor, float& commandX, float& commandY);

  bool motorStartedCheck();
  bool takeOffInAirCheck();
  bool takeoffFinishedCheck();
};
#endif  // DJIOSDK_FLIGHT_SAMPLE_HPP