Release 1.5.3

ClientLib/build.gradle

@@ -2,8 +2,8 @@ apply plugin: 'com.android.library'
 
 ext {
     VERSION_MAJOR = 2
-    VERSION_MINOR = 8
-    VERSION_PATCH = 1
+    VERSION_MINOR = 9
+    VERSION_PATCH = 0
     VERSION_SUFFIX = "release"
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
@@ -58,8 +58,8 @@ dependencies {
     compile "com.android.support:support-v4:${support_lib_version}"
     compile "com.google.android.gms:play-services-base:${play_services_version}"
 
-    compile project(':Mavlink')
-    compile files('libs/Mavlink.jar')
+    debugCompile project(':Mavlink')
+    releaseCompile files('libs/Mavlink.jar')
 }
 
 assemble.dependsOn ':Mavlink:jar'

ClientLib/src/main/java/com/o3dr/android/client/apis/ControlApi.java

@@ -4,25 +4,26 @@
 
 import com.o3dr.android.client.Drone;
 import com.o3dr.services.android.lib.coordinate.LatLong;
-import com.o3dr.services.android.lib.drone.attribute.AttributeType;
+import com.o3dr.services.android.lib.coordinate.LatLongAlt;
 import com.o3dr.services.android.lib.drone.attribute.error.CommandExecutionError;
-import com.o3dr.services.android.lib.drone.property.Gps;
 import com.o3dr.services.android.lib.model.AbstractCommandListener;
 import com.o3dr.services.android.lib.model.action.Action;
 
 import java.util.concurrent.ConcurrentHashMap;
 
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_DO_GUIDED_TAKEOFF;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_ENABLE_MANUAL_CONTROL;
+import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_LOOK_AT_TARGET;
+import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SEND_BRAKE_VEHICLE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SEND_GUIDED_POINT;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_CONDITION_YAW;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_GUIDED_ALTITUDE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_VELOCITY;
-import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SEND_BRAKE_VEHICLE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_ALTITUDE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_DO_ENABLE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_FORCE_GUIDED_POINT;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_GUIDED_POINT;
+import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_LOOK_AT_TARGET;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_VELOCITY_X;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_VELOCITY_Y;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_VELOCITY_Z;
@@ -99,6 +100,21 @@ public void goTo(LatLong point, boolean force, AbstractCommandListener listener)
         drone.performAsyncActionOnDroneThread(new Action(ACTION_SEND_GUIDED_POINT, params), listener);
     }
 
+    /**
+     * Instructs the vehicle to orient toward the specified location
+     *
+     * @param point
+     * @param force
+     * @param listener
+     * @since 2.9.0
+     */
+    public void lookAt(LatLongAlt point, boolean force, AbstractCommandListener listener){
+        Bundle params = new Bundle();
+        params.putBoolean(EXTRA_FORCE_GUIDED_POINT, force);
+        params.putParcelable(EXTRA_LOOK_AT_TARGET, point);
+        drone.performAsyncActionOnDroneThread(new Action(ACTION_LOOK_AT_TARGET, params), listener);
+    }
+
     /**
      * Instructs the vehicle to climb to the specified altitude.
      *

ClientLib/src/main/java/com/o3dr/android/client/apis/VehicleApi.java

@@ -23,9 +23,11 @@
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_ENABLE_RETURN_TO_ME;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_SET_VEHICLE_HOME;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_SET_VEHICLE_MODE;
+import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_UPDATE_VEHICLE_DATA_STREAM_RATE;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_ARM;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_EMERGENCY_DISARM;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_IS_RETURN_TO_ME_ENABLED;
+import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_VEHICLE_DATA_STREAM_RATE;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_VEHICLE_HOME_LOCATION;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_VEHICLE_MODE;
 
@@ -245,4 +247,20 @@ public void enableReturnToMe(boolean isEnabled, final AbstractCommandListener li
         params.putBoolean(EXTRA_IS_RETURN_TO_ME_ENABLED, isEnabled);
         drone.performAsyncActionOnDroneThread(new Action(ACTION_ENABLE_RETURN_TO_ME, params), listener);
     }
+
+    /**
+     * Update the vehicle data stream rate.
+     *
+     * Note: This is ineffective for Solo vehicles since their data stream rate is handled
+     * by the onboard companion computer.
+     *
+     * @param rate          The new data stream rate
+     * @param listener      Register a callback to receive update of the command execution state
+     * @since 2.9.0
+     */
+    public void updateVehicleDataStreamRate(int rate, final AbstractCommandListener listener){
+        Bundle params = new Bundle();
+        params.putInt(EXTRA_VEHICLE_DATA_STREAM_RATE, rate);
+        drone.performAsyncActionOnDroneThread(new Action(ACTION_UPDATE_VEHICLE_DATA_STREAM_RATE, params), listener);
+    }
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/action/ControlActions.java

@@ -46,6 +46,13 @@ public class ControlActions {
 
     public static final String EXTRA_DO_ENABLE = "extra_do_enable";
 
+    public static final String ACTION_LOOK_AT_TARGET = PACKAGE_NAME + ".action.LOOK_AT_TARGET";
+
+    /**
+     * Geo coordinate to orient the vehicle to
+     */
+    public static final String EXTRA_LOOK_AT_TARGET = "extra_look_at_target";
+
     //Private to prevent instantiation
     private ControlActions(){}
 

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/action/StateActions.java

@@ -7,6 +7,8 @@
  */
 public class StateActions {
 
+    private static final String PACKAGE_NAME = "com.o3dr.services.android.lib.drone.action.state";
+
     public static final String ACTION_ARM = Utils.PACKAGE_NAME + ".action.ARM";
     public static final String EXTRA_ARM = "extra_arm";
     public static final String EXTRA_EMERGENCY_DISARM = "extra_emergency_disarm";
@@ -20,6 +22,9 @@ public class StateActions {
     public static final String ACTION_ENABLE_RETURN_TO_ME = Utils.PACKAGE_NAME + ".action.ENABLE_RETURN_TO_ME";
     public static final String EXTRA_IS_RETURN_TO_ME_ENABLED = "extra_is_return_to_me_enabled";
 
+    public static final String ACTION_UPDATE_VEHICLE_DATA_STREAM_RATE = PACKAGE_NAME + ".action.UPDATE_VEHICLE_DATA_STREAM_RATE";
+    public static final String EXTRA_VEHICLE_DATA_STREAM_RATE = "extra_vehicle_data_stream_rate";
+
     //Private to prevent instantiation
     private StateActions(){}
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/SoloFollowOptions.java

@@ -88,4 +88,11 @@ public SoloFollowOptions[] newArray(int size) {
             return new SoloFollowOptions[size];
         }
     };
+
+    @Override
+    public String toString() {
+        return "SoloFollowOptions{" +
+            "lookAt=" + lookAt +
+            '}';
+    }
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/SoloFollowOptionsV2.java

@@ -1,6 +1,7 @@
 package com.o3dr.services.android.lib.drone.companion.solo.tlv;
 
 import android.os.Parcel;
+import android.support.annotation.IntDef;
 
 import java.nio.ByteBuffer;
 
@@ -9,70 +10,64 @@
  */
 public class SoloFollowOptionsV2 extends SoloFollowOptions {
 
-    private static final int FREE_LOOK_ENABLED_VALUE = 1;
-    private static final int FREE_LOOK_DISABLED_VALUE = 0;
+    @IntDef ({
+        FOLLOW_PREFERENCE_NONE,
+        FOLLOW_PREFERENCE_ORBIT,
+        FOLLOW_PREFERENCE_FREE_LOOK,
+        FOLLOW_PREFERENCE_LEASH
+    })
+    public @interface FollowPreference{}
 
-    private boolean freeLook;
+    public static final int FOLLOW_PREFERENCE_NONE = -1;
+    public static final int FOLLOW_PREFERENCE_ORBIT = 0;
+    public static final int FOLLOW_PREFERENCE_FREE_LOOK = 1;
+    public static final int FOLLOW_PREFERENCE_LEASH = 2;
+
+    @FollowPreference
+    private int followPreference;
 
     public SoloFollowOptionsV2() {
-        this(PAUSED_CRUISE_SPEED, true, false);
+        this(PAUSED_CRUISE_SPEED, true, FOLLOW_PREFERENCE_NONE);
     }
 
-    public SoloFollowOptionsV2(float cruiseSpeed, boolean lookAt, boolean freeLook){
+    public SoloFollowOptionsV2(float cruiseSpeed, boolean lookAt, @FollowPreference int followPreference) {
         super(TLVMessageTypes.TYPE_SOLO_FOLLOW_OPTIONS_V2, 12, cruiseSpeed, lookAt);
-        this.freeLook = freeLook;
+        this.followPreference = followPreference;
     }
 
-    SoloFollowOptionsV2(float cruiseSpeed, int lookAtValue, int freeLookValue){
-        this(cruiseSpeed, lookAtValue == LOOK_AT_ENABLED_VALUE, freeLookValue == FREE_LOOK_ENABLED_VALUE);
+    SoloFollowOptionsV2(float cruiseSpeed, int lookAtValue, int followPreference) {
+        this(cruiseSpeed, lookAtValue == LOOK_AT_ENABLED_VALUE, followPreference);
     }
 
-    SoloFollowOptionsV2(ByteBuffer buffer){
+    SoloFollowOptionsV2(ByteBuffer buffer) {
         this(buffer.getFloat(), buffer.getInt(), buffer.getInt());
     }
 
-    public boolean isFreeLook() {
-        return freeLook;
-    }
-
-    public void setFreeLook(boolean freeLook) {
-        this.freeLook = freeLook;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (!(o instanceof SoloFollowOptionsV2)) return false;
-        if (!super.equals(o)) return false;
-
-        SoloFollowOptionsV2 that = (SoloFollowOptionsV2) o;
-
-        return freeLook == that.freeLook;
-
+    @FollowPreference
+    public int getFollowPreference() {
+        return followPreference;
     }
 
-    @Override
-    public int hashCode() {
-        int result = super.hashCode();
-        result = 31 * result + (freeLook ? FREE_LOOK_ENABLED_VALUE : FREE_LOOK_DISABLED_VALUE);
-        return result;
+    public void setFollowPreference(@FollowPreference int followPreference) {
+        this.followPreference = followPreference;
     }
 
     @Override
-    protected void getMessageValue(ByteBuffer valueCarrier){
+    protected void getMessageValue(ByteBuffer valueCarrier) {
         super.getMessageValue(valueCarrier);
-        valueCarrier.putInt(freeLook ? FREE_LOOK_ENABLED_VALUE : FREE_LOOK_DISABLED_VALUE);
+        valueCarrier.putInt(followPreference);
     }
 
     @Override
     public void writeToParcel(Parcel dest, int flags) {
         super.writeToParcel(dest, flags);
-        dest.writeByte(freeLook ? (byte) FREE_LOOK_ENABLED_VALUE : (byte) FREE_LOOK_DISABLED_VALUE);
+        dest.writeInt(followPreference);
     }
 
     protected SoloFollowOptionsV2(Parcel in) {
         super(in);
-        this.freeLook = in.readByte() != FREE_LOOK_DISABLED_VALUE;
+        @FollowPreference int followPreference = in.readInt();
+        this.followPreference = followPreference;
     }
 
     public static final Creator<SoloFollowOptionsV2> CREATOR = new Creator<SoloFollowOptionsV2>() {
@@ -84,4 +79,36 @@ public SoloFollowOptionsV2[] newArray(int size) {
             return new SoloFollowOptionsV2[size];
         }
     };
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) {
+            return true;
+        }
+        if (o == null || getClass() != o.getClass()) {
+            return false;
+        }
+        if (!super.equals(o)) {
+            return false;
+        }
+
+        SoloFollowOptionsV2 that = (SoloFollowOptionsV2) o;
+
+        return followPreference == that.followPreference;
+
+    }
+
+    @Override
+    public int hashCode() {
+        int result = super.hashCode();
+        result = 31 * result + followPreference;
+        return result;
+    }
+
+    @Override
+    public String toString() {
+        return "SoloFollowOptionsV2{" +
+            "followPreference=" + followPreference +
+            '}';
+    }
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/SoloPause.java

@@ -0,0 +1,43 @@
+package com.o3dr.services.android.lib.drone.companion.solo.tlv;
+
+import android.os.Parcel;
+
+import java.nio.ByteBuffer;
+
+/**
+ * Used by ShotManager or app to transmit a pause request.
+ */
+public class SoloPause extends TLVPacket {
+
+    public SoloPause() {
+        super(TLVMessageTypes.TYPE_SOLO_PAUSE_BUTTON, 0);
+    }
+
+    @Override
+    protected void getMessageValue(ByteBuffer valueCarrier) {
+    }
+
+    @Override
+    public void writeToParcel(Parcel dest, int flags) {
+        super.writeToParcel(dest, flags);
+    }
+
+    protected SoloPause(Parcel in) {
+        super(in);
+    }
+
+    public static final Creator<SoloPause> CREATOR = new Creator<SoloPause>() {
+        public SoloPause createFromParcel(Parcel source) {
+            return new SoloPause(source);
+        }
+
+        public SoloPause[] newArray(int size) {
+            return new SoloPause[size];
+        }
+    };
+
+    @Override
+    public String toString() {
+        return "SoloPause{}";
+    }
+}

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/TLVMessageParser.java

@@ -44,6 +44,7 @@
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_MESSAGE_RECORD_POSITION;
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_MESSAGE_SET_CURRENT_SHOT;
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_MESSAGE_SHOT_MANAGER_ERROR;
+import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_PAUSE_BUTTON;
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_SCAN_START;
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_SET_BUTTON_SETTING;
 import static com.o3dr.services.android.lib.drone.companion.solo.tlv.TLVMessageTypes.TYPE_SOLO_SHOT_ERROR;
@@ -304,6 +305,11 @@ public static List<TLVPacket> parseTLVPacket(ByteBuffer packetBuffer) {
                         break;
                     }
 
+                    case TYPE_SOLO_PAUSE_BUTTON:{
+                        packet = new SoloPause();
+                        break;
+                    }
+
                     default:
                         break;
                 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/TLVMessageTypes.java

@@ -12,6 +12,7 @@ public class TLVMessageTypes {
     public static final int TYPE_SOLO_CABLE_CAM_OPTIONS = 4;
     public static final int TYPE_SOLO_GET_BUTTON_SETTING = 5;
     public static final int TYPE_SOLO_SET_BUTTON_SETTING = 6;
+    public static final int TYPE_SOLO_PAUSE_BUTTON = 7;
 
     public static final int TYPE_SOLO_FOLLOW_OPTIONS = 19;
     public static final int TYPE_SOLO_FOLLOW_OPTIONS_V2 = 119;

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/companion/solo/tlv/sitescan/inspect/SoloInspectMoveGimbal.java

@@ -8,11 +8,20 @@
 import java.nio.ByteBuffer;
 
 /**
- * Created by chavi on 12/9/15.
+ * Sent by the app to ShotManager to instruct Solo to actuate gimbal to desired orientation.
  */
 public class SoloInspectMoveGimbal extends TLVPacket {
+    /**
+     * Body-relative pitch in degrees (0 to -90)
+     */
     private float pitch;
+    /**
+     * Body-relative roll in degrees
+     */
     private float roll;
+    /**
+     * Earth frame Yaw (heading) in degrees (0 to 360)
+     */
     private float yaw;
 
     public SoloInspectMoveGimbal(float pitch, float roll, float yaw) {