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DJI Sim Waypoints Handling #141

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DJI Sim Waypoints Handling #141

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9a214d3
fix game pausing and DJI SIM WP alt being underground problem
orrblue Aug 12, 2020
b8036ed
Update Matrice_ROSDroneConnection.cs
erwang01 Aug 19, 2020
823397c
Set DJI Sim to false
erwang01 Aug 19, 2020
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6 changes: 3 additions & 3 deletions Assets/Scenes/Main.unity
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11 changes: 9 additions & 2 deletions Assets/Scripts/ROS Scripts/ROS Connections v2/Drones/Matrice_ROSDroneConnection.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -284,8 +284,15 @@ public void StartMission()
Waypoint waypoint = droneProperties.droneClassPointer.GetWaypoint(i);
Vector3 unityCoord = waypoint.gameObjectPointer.transform.localPosition;
GPSCoordinate rosCoord = WorldProperties.UnityCoordToGPSCoord(unityCoord);

MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt - home_position.GetAltitude()), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
MissionWaypointMsg new_waypoint;
if (WorldProperties.DJI_SIM)
{
new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
}
else
{
new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt - home_position.GetAltitude()), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
}
Debug.Log("Adding waypoint at: " + new_waypoint);
missionMsgList.Add(new_waypoint);
}
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94 changes: 47 additions & 47 deletions ProjectSettings/EditorBuildSettings.asset
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9 changes: 5 additions & 4 deletions ProjectSettings/ProjectSettings.asset
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