Helicopter/firmware
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Project structure redefinition

Browse Source
This commit is contained in:
Goga Coder
2024-03-01 22:58:59 +07:00
parent 9d0f5d06ea
commit 69c736b1eb
18 changed files with 126 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
src/Logic/FlightDispatcher.cpp
View File

@@ -43,22 +43,12 @@ void FlightDispatcher::tick() {
}
void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
auto currentState = _flightController->currentDeviceState();
gson::string package;
package.beginObj();
package["batteryCharge"] = currentState.batteryCharge;
package["flightHeight"] = currentState.flightHeight;
package["status"] = currentState.status;
package.endObj();
package.end();
package += "\r\n";
auto pkg = package.s.c_str();
_bluetoothDispatcher->sendPackage(pkg, strlen(pkg));
_sendTelemetry();
}
void FlightDispatcher::_onNewMessageReceived(char *package) {
using sutil::SH;
ESP_LOGD(_tag, "Received new package: %s", package);
ESP_LOGI(_tag, "Received new package: %s", package);
gson::Doc pkg;
if (!pkg.parse(package, _jsonMaxDepth)) {
ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
@@ -137,27 +127,28 @@ void FlightDispatcher::_pidSettingsOpened() {
pkg.beginObj();
pkg.beginObj("p1");
pkg["p"] = settings[0].p;
pkg["i"] = settings[0].i;
pkg["d"] = settings[0].d;
pkg["p"] = settings->pid1.p;
pkg["i"] = settings->pid1.i;
pkg["d"] = settings->pid1.d;
pkg.endObj();
pkg.beginObj("p2");
pkg["p"] = settings[1].p;
pkg["i"] = settings[1].i;
pkg["d"] = settings[1].d;
pkg["p"] = settings->pid2.p;
pkg["i"] = settings->pid2.i;
pkg["d"] = settings->pid2.d;
pkg.endObj();
pkg.beginObj("p3");
pkg["p"] = settings[2].p;
pkg["i"] = settings[2].i;
pkg["d"] = settings[2].d;
pkg["p"] = settings->pid3.p;
pkg["i"] = settings->pid3.i;
pkg["d"] = settings->pid3.d;
pkg.endObj();
pkg.endObj();
pkg.end();
pkg += "\r\n";
pkg.s = String(MessageType::PidSettings) + ";" + pkg.s + _message_delimeter;
_bluetoothDispatcher->sendPackage(pkg.s.c_str(), strlen(pkg.s.c_str()));
ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
}
void FlightDispatcher::_sendTelemetry() {
@@ -165,7 +156,7 @@ void FlightDispatcher::_sendTelemetry() {
auto state = _flightController->currentDeviceState();
gson::string package;
package.beginObj();
package["batteryCharge"] = state.batteryCharge;
package["charge"] = state.batteryCharge;
package["flightHeight"] = state.flightHeight;
package["status"] = state.status;
package["y"] = state.mpuState.yaw;
@@ -174,7 +165,6 @@ void FlightDispatcher::_sendTelemetry() {
package["zIn"] = state.mpuState.zInertial;
package.endObj();
package.end();
package += "\r\n";
package.s = String(MessageType::UpdatePackage) + ";" + package.s + _message_delimeter;
_bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
}