diff --git a/Examples/Linux/Build/Release/ardrone_navigation b/Examples/Linux/Build/Release/ardrone_navigation
index c8daaf12ae9a3db9c828285e4afa17b76eeea3b1..7b131496757ee4b6c93eaa3fb7e98889c41e5860 100755
Binary files a/Examples/Linux/Build/Release/ardrone_navigation and b/Examples/Linux/Build/Release/ardrone_navigation differ
diff --git a/Examples/Linux/Build/Release/common/mobile_main b/Examples/Linux/Build/Release/common/mobile_main
deleted file mode 100755
index c8daaf12ae9a3db9c828285e4afa17b76eeea3b1..0000000000000000000000000000000000000000
Binary files a/Examples/Linux/Build/Release/common/mobile_main and /dev/null differ
diff --git a/Examples/Linux/Build/Release/common/sym_mobile_main b/Examples/Linux/Build/Release/common/sym_mobile_main
index 74c79a38a47f6dd523c0b74ab83fd4f10702ee02..efb7a9c35a853deabfbc382d4621793da4fd812e 100755
Binary files a/Examples/Linux/Build/Release/common/sym_mobile_main and b/Examples/Linux/Build/Release/common/sym_mobile_main differ
diff --git a/Examples/Linux/Makefile b/Examples/Linux/Makefile
index 44fa57fe230a6007883a7e5e725834268b3cf2b8..83d3c2f35cb0c50aed34b768b64f1f19f1db75a9 100644
--- a/Examples/Linux/Makefile
+++ b/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)
diff --git a/Examples/Linux/drone_control/Sources/bt_connect.c b/Examples/Linux/drone_control/Sources/bt_connect.c
index 2d77d450a0bbe00a2064895b4a0e4ef3bb606ad1..41318d8cb330eafb8660f2bfea6cdbc65aaf46cf 100644
--- a/Examples/Linux/drone_control/Sources/bt_connect.c
+++ b/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) {
diff --git a/Examples/Linux/drone_control/Sources/bt_connect.h b/Examples/Linux/drone_control/Sources/bt_connect.h
index 91e547f1da8c5855470237c4e9b89365ca15b3e5..c645c3db4e5df235da8fe2da9a870694a5458cd8 100644
--- a/Examples/Linux/drone_control/Sources/bt_connect.h
+++ b/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 );
diff --git a/Examples/Linux/drone_control/Sources/navdata.c b/Examples/Linux/drone_control/Sources/navdata.c
index a890c43bd63dc9bfc0e0e59224237e1f90fff88e..f800f1e9d0801491f851ad84c2091bcfe4541d58 100644
--- a/Examples/Linux/drone_control/Sources/navdata.c
+++ b/Examples/Linux/drone_control/Sources/navdata.c
@@ -1,13 +1,15 @@
#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;
}