Merge branch 'master' into beta

Author: arthurbenemann

Android/AndroidManifest.xml

@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
           package="org.droidplanner"
-          android:versionCode="94"
+          android:versionCode="95"
           android:versionName="please run version.sh to get the version name">
 
     <uses-sdk

Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java

@@ -92,6 +92,7 @@ protected void updateLabel() {
 	@Override
 	public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
 		followMe.setType(adapter.getItem(position));
+		updateLabel();
 	}
 
 	@Override

ChangeLog.md

@@ -8,6 +8,9 @@ Our convention for release control is the following (for a release like DPvA.B.C
 All the changes are logged below (preferable with the pull request numbers in parenteses):
 
 # Releases
+## Droidplanner v2.7.4
+* Added extra follow-modes (#1057)
+* Fix error on Mavlink message handling (#1056,#1050)
 
 ## Droidplanner v2.7.3
 * German translation improvements (#1034,#1045)

Core/src/org/droidplanner/core/MAVLink/connection/MavLinkConnection.java

@@ -127,9 +127,9 @@ private void handleData(Parser parser, int bufferSize, byte[] buffer) {
             for (int i = 0; i < bufferSize; i++) {
                 MAVLinkPacket receivedPacket = parser.mavlink_parse_char(buffer[i] & 0x00ff);
                 if (receivedPacket != null) {
-                    queueToLog(receivedPacket);
                     MAVLinkMessage msg = receivedPacket.unpack();
                     reportReceivedMessage(msg);
+                    queueToLog(receivedPacket);
                 }
             }
         }

Core/src/org/droidplanner/core/gcs/follow/Follow.java

@@ -32,7 +32,7 @@ public class Follow implements OnDroneListener, LocationReceiver {
 
 	public Follow(Drone drone, Handler handler, LocationFinder locationFinder) {
 		this.drone = drone;
-		followAlgorithm = new FollowAbove(drone, new Length(0.0));
+		followAlgorithm = FollowAlgorithm.FollowModes.LEASH.getAlgorithmType(drone);
 		this.locationFinder = locationFinder;
 		locationFinder.setLocationListner(this);
 		roiEstimator = new ROIEstimator(handler, drone);

Core/src/org/droidplanner/core/gcs/follow/FollowAbove.java

@@ -1,9 +1,11 @@
 package org.droidplanner.core.gcs.follow;
 
 import org.droidplanner.core.gcs.location.Location;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.units.Length;
 import org.droidplanner.core.model.Drone;
 
+
 public class FollowAbove extends FollowAlgorithm {
 
 	public FollowAbove(Drone drone, Length radius) {
@@ -17,7 +19,8 @@ public FollowModes getType() {
 
 	@Override
 	public void processNewLocation(Location location) {
-		drone.getGuidedPoint().newGuidedCoord(location.getCoord());
+		Coord2D gcsCoord = new Coord2D(location.getCoord().getLat(), location.getCoord().getLng());
+		drone.getGuidedPoint().newGuidedCoord(gcsCoord);
 	}
 
 }

Core/src/org/droidplanner/core/gcs/follow/FollowAlgorithm.java

@@ -25,7 +25,7 @@ public void changeRadius(Double increment) {
 	}
 
 	public enum FollowModes {
-		LEASH("Leash"), ABOVE("Above");
+		LEASH("Leash"), LEAD("Lead"), RIGHT("Right"), LEFT("Left"), CIRCLE("Orbit"), ABOVE("Above");
 
 		private String name;
 
@@ -46,6 +46,14 @@ public FollowAlgorithm getAlgorithmType(Drone drone) {
 			switch (this) {
 			case LEASH:
 				return new FollowLeash(drone, new Length(8.0));
+			case LEAD:
+				return new FollowLead(drone, new Length(15.0));
+			case RIGHT:
+				return new FollowRight(drone, new Length(10.0));
+			case LEFT:
+				return new FollowLeft(drone, new Length(10.0));
+			case CIRCLE:
+				return new FollowCircle(drone, new Length(15.0), 10.0);
 			case ABOVE:
 				return new FollowAbove(drone, new Length(0.0));
 			}

Core/src/org/droidplanner/core/gcs/follow/FollowCircle.java

@@ -0,0 +1,37 @@
+package org.droidplanner.core.gcs.follow;
+
+import org.droidplanner.core.gcs.location.Location;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.helpers.geoTools.GeoTools;
+import org.droidplanner.core.helpers.math.MathUtil;
+import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
+
+
+public class FollowCircle extends FollowAlgorithm {
+
+	/**
+	 * °/s
+	 */
+	private double circleStep = 2;
+	private double circleAngle = 0.0;
+
+	public FollowCircle(Drone drone, Length radius, double rate) {
+		super(drone, radius);
+		circleStep = rate;
+	}
+
+	@Override
+	public FollowModes getType() {
+		return FollowModes.CIRCLE;
+	}
+
+	@Override
+	public void processNewLocation(Location location) {
+		Coord2D gcsCoord = new Coord2D(location.getCoord().getLat(), location.getCoord().getLng());
+		Coord2D goCoord = GeoTools.newCoordFromBearingAndDistance(gcsCoord, circleAngle,
+				radius.valueInMeters());
+		circleAngle = MathUtil.constrainAngle(circleAngle + circleStep);
+		drone.getGuidedPoint().newGuidedCoord(goCoord);
+	}
+}

Core/src/org/droidplanner/core/gcs/follow/FollowHeadingAngle.java

@@ -0,0 +1,30 @@
+package org.droidplanner.core.gcs.follow;
+
+import org.droidplanner.core.gcs.location.Location;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.helpers.geoTools.GeoTools;
+import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
+
+
+public abstract class FollowHeadingAngle extends FollowAlgorithm {
+
+	protected double angleOffset;
+
+	protected FollowHeadingAngle(Drone drone, Length radius, double angleOffset) {
+		super(drone, radius);
+		this.angleOffset = angleOffset;
+	}
+
+	@Override
+	public void processNewLocation(Location location) {
+
+		Coord2D gcsCoord = new Coord2D(location.getCoord().getLat(), location.getCoord().getLng());
+		double bearing = location.getBearing();
+
+		Coord2D goCoord = GeoTools.newCoordFromBearingAndDistance(gcsCoord, bearing + angleOffset,
+				radius.valueInMeters());
+		drone.getGuidedPoint().newGuidedCoord(goCoord);
+	}
+
+}

Core/src/org/droidplanner/core/gcs/follow/FollowLead.java

@@ -0,0 +1,17 @@
+package org.droidplanner.core.gcs.follow;
+
+import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
+
+public class FollowLead extends FollowHeadingAngle {
+
+	public FollowLead(Drone drone, Length radius) {
+		super(drone, radius, 0.0);
+	}
+
+	@Override
+	public FollowModes getType() {
+		return FollowModes.LEAD;
+	}
+
+}