update bt_datea

Examples/Linux/Makefile

@@ -4,7 +4,7 @@
 all:
 	@$(MAKE) -C ../../ARDroneLib/Soft/Build USE_LINUX=yes
 	@$(MAKE) -C Navigation/Build USE_LINUX=yes 
-	@$(MAKE) -C custom_test/Build USE_LINUX=yes
+	@$(MAKE) -C drone_control/Build USE_LINUX=yes
 	@$(MAKE) -C bt_test/Build USE_LINUX=yes
 	@$(MAKE) -C sdk_demo/Build USE_LINUX=yes
 	@$(MAKE) -C video_demo/Build USE_LINUX=yes
@@ -14,7 +14,7 @@ all:
 $(MAKECMDGOALS):
 	@$(MAKE) -C ../../ARDroneLib/Soft/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C Navigation/Build USE_LINUX=yes $(MAKECMDGOALS)
-	@$(MAKE) -C custom_test/Build USE_LINUX=yes $(MAKECMDGOALS)
+	@$(MAKE) -C drone_control/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C bt_test/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C sdk_demo/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C video_demo/Build USE_LINUX=yes $(MAKECMDGOALS)

Examples/Linux/drone_control/Sources/bt_connect.c

@@ -20,11 +20,25 @@
 
 #include "bt_connect.h"
 
-char bt_data[2048];
+bt_data_t bt_data = {0};
+
+float32_t uint2float(uint32_t v) {
+    return *(float*)(&v);
+}
 
 void update_data(char *line) {
-    memcpy(bt_data, line, sizeof(bt_data));
-    printf("received: [%s]\n", line);
+    static uint32_t value[7];
+    sscanf(line, "=%x %x %x %x %x %x %x %d %d %hhd", 
+           &bt_data.microsecond,
+           &value[0], &value[1], &value[2],
+           &value[3], &value[4], &value[5],
+           &bt_data.scroll_x, &bt_data.scroll_y, &bt_data.click);
+    bt_data.accel_x = uint2float(value[0]);
+    bt_data.accel_y = uint2float(value[1]);
+    bt_data.accel_z = uint2float(value[2]);
+    bt_data.gyro_x = uint2float(value[3]);
+    bt_data.gyro_y = uint2float(value[4]);
+    bt_data.gyro_z = uint2float(value[5]);
 }
 
 bdaddr_t find_client(char *target) {

Examples/Linux/drone_control/Sources/bt_connect.h

@@ -4,7 +4,20 @@
 #include <config.h>
 #include <VP_Api/vp_api_thread_helper.h>
 
-extern char bt_data[2048];
+typedef struct _bt_data_t {
+    uint32_t microsecond;
+    float32_t accel_x;
+    float32_t accel_y;
+    float32_t accel_z;
+    float32_t gyro_x;
+    float32_t gyro_y;
+    float32_t gyro_z;
+    int32_t scroll_x;
+    int32_t scroll_y;
+    bool_t click;
+} bt_data_t;
+
+extern bt_data_t bt_data;
 
 PROTO_THREAD_ROUTINE( bluetooth_connect, data );
 

Examples/Linux/drone_control/Sources/navdata.c

 #include <ardrone_tool/Navdata/ardrone_navdata_client.h>
 
-#include <Navdata/navdata.h>
-#include <Control/control.h>
 #include <stdio.h>
 #include <stdlib.h>
 
 #define CTRL_STATES_STRING
 #include "control_states.h"
 
+#include "navdata.h"
+#include "control.h"
+#include "bt_connect.h"
+
 /* Initialization local variables before event loop  */
 inline C_RESULT demo_navdata_client_init( void* data )
 {
@@ -18,17 +20,22 @@ inline C_RESULT demo_navdata_client_init( void* data )
 inline C_RESULT demo_navdata_client_process( const navdata_unpacked_t* const navdata )
 {
 	const navdata_demo_t*nd = &navdata->navdata_demo;
+	const controller_info_t*cs = &controller_state;
 
 	printf("===================== Navdata for flight demonstrations =====================\n");
 	printf("Control state : %i                  / Battery level : %i mV\n", nd->ctrl_state, nd->vbat_flying_percentage);
 	printf("Altitude      : %i\n",nd->altitude);
 	printf("Orientation   : [Theta] %4.3f  [Phi] %4.3f  [Psi] %4.3f\n", nd->theta, nd->phi, nd->psi);
-	printf("Speed         : [vX] %4.3f  [vY] %4.3f  [vZ] %4.3f\n",nd->vx,nd->vy,nd->vz);
+	printf("Speed         :    [vX] %4.3f   [vY] %4.3f   [vZ] %4.3f\n",nd->vx,nd->vy,nd->vz);
 	printf("============================= Controller states =============================\n");
-	printf("Start : %i                          / Emergency : %i\n", controller_state.start, controller_state.emergency);
-	printf("[Gaz] %4.3f\n", controller_state.gaz);
-	printf("[Theta] %4.3f  [Phi] %4.3f  [Yaw] %4.3f  [magnet-Psi] %4.3f\n", controller_state.theta, controller_state.phi, controller_state.yaw, controller_state.magneto_psi);
-	printf("Mode : [hover] %i  [yaw] %i  [absolute] %i  [psi-accuracy] %4.3f\n", controller_state.hover_mode, controller_state.yaw_mode, controller_state.absolute_mode, controller_state.magneto_psi_accuracy);
+	printf("Start : %i                          / Emergency : %i\n", cs->start, cs->emergency);
+	printf("[Theta] %4.3f  [Phi] %4.3f  [Gaz] %4.3f  [Yaw] %4.3f  [magnet-Psi] %4.3f\n", cs->theta, cs->phi, cs->gaz, cs->yaw, cs->magneto_psi);
+	printf("Mode : [hover] %i  [yaw] %i  [absolute] %i  [psi-accuracy] %4.3f\n", cs->hover_mode, cs->yaw_mode, cs->absolute_mode, cs->magneto_psi_accuracy);
+	printf("============================== Bluetooth data ===============================\n");
+	printf("microsecond: %d\n", bt_data.microsecond);
+	printf("acceleration: [x] %4.3f  [y] %4.3f  [z] %4.3f\n", bt_data.accel_x, bt_data.accel_y, bt_data.accel_z);
+	printf("gyrometer:    [x] %4.3f  [y] %4.3f  [z] %4.3f\n", bt_data.gyro_x, bt_data.gyro_y, bt_data.gyro_z);
+	printf("scroll:       [x] %4.3f  [y] %4.3f  / click: %i\n", bt_data.scroll_x, bt_data.scroll_y, bt_data.click);
 
   return C_OK;
 }