Merge pull request #272 from dronekit/enable_smoother_follow_mode_for_solo

Enable smoother follow mode for solo

Author: m4gr3d

ClientLib/src/main/java/com/o3dr/services/android/lib/gcs/follow/FollowType.java

@@ -22,13 +22,7 @@ public boolean hasParam(String paramKey) {
             return false;
         }
     },
-    SPLINE_LEASH("Vector Leash"),
-    SPLINE_ABOVE("Vector Above") {
-        @Override
-        public boolean hasParam(String paramKey) {
-            return false;
-        }
-    },
+
     GUIDED_SCAN("Guided Scan") {
         @Override
         public boolean hasParam(String paramKey) {
@@ -108,12 +102,6 @@ public static List<FollowType> getFollowTypes(boolean includeAdvanced) {
         followTypes.add(GUIDED_SCAN);
         followTypes.add(LOOK_AT_ME);
 
-        if (includeAdvanced) {
-            followTypes.add(SOLO_SHOT);
-            followTypes.add(SPLINE_LEASH);
-            followTypes.add(SPLINE_ABOVE);
-        }
-
         return followTypes;
     }
 

ServiceApp/src/org/droidplanner/services/android/utils/CommonApiUtils.java

@@ -54,6 +54,7 @@
 import org.droidplanner.services.android.core.drone.variables.GuidedPoint;
 import org.droidplanner.services.android.core.drone.variables.calibration.AccelCalibration;
 import org.droidplanner.services.android.core.drone.variables.calibration.MagnetometerCalibrationImpl;
+import org.droidplanner.services.android.core.firmware.FirmwareType;
 import org.droidplanner.services.android.core.gcs.follow.Follow;
 import org.droidplanner.services.android.core.gcs.follow.FollowAlgorithm;
 import org.droidplanner.services.android.core.helpers.coordinates.Coord2D;
@@ -257,12 +258,14 @@ public static FootPrint getProxyCameraFootPrint(Footprint footprint) {
                 MathUtils.coord2DToLatLong(footprint.getVertexInGlobalFrame()));
     }
 
-    public static FollowAlgorithm.FollowModes followTypeToMode(FollowType followType) {
+    public static FollowAlgorithm.FollowModes followTypeToMode(MavLinkDrone drone, FollowType followType) {
         final FollowAlgorithm.FollowModes followMode;
 
         switch (followType) {
             case ABOVE:
-                followMode = FollowAlgorithm.FollowModes.ABOVE;
+                followMode = (drone.getFirmwareType() == FirmwareType.ARDU_SOLO)
+                        ? FollowAlgorithm.FollowModes.SPLINE_ABOVE
+                        : FollowAlgorithm.FollowModes.ABOVE;
                 break;
 
             case LEAD:
@@ -271,7 +274,9 @@ public static FollowAlgorithm.FollowModes followTypeToMode(FollowType followType
 
             default:
             case LEASH:
-                followMode = FollowAlgorithm.FollowModes.LEASH;
+                followMode =  (drone.getFirmwareType() == FirmwareType.ARDU_SOLO)
+                        ? FollowAlgorithm.FollowModes.SPLINE_LEASH
+                        : FollowAlgorithm.FollowModes.LEASH;
                 break;
 
             case CIRCLE:
@@ -286,14 +291,6 @@ public static FollowAlgorithm.FollowModes followTypeToMode(FollowType followType
                 followMode = FollowAlgorithm.FollowModes.RIGHT;
                 break;
 
-            case SPLINE_LEASH:
-                followMode = FollowAlgorithm.FollowModes.SPLINE_LEASH;
-                break;
-
-            case SPLINE_ABOVE:
-                followMode = FollowAlgorithm.FollowModes.SPLINE_ABOVE;
-                break;
-
             case GUIDED_SCAN:
                 followMode = FollowAlgorithm.FollowModes.GUIDED_SCAN;
                 break;
@@ -315,6 +312,7 @@ public static FollowType followModeToType(FollowAlgorithm.FollowModes followMode
         switch (followMode) {
             default:
             case LEASH:
+            case SPLINE_LEASH:
                 followType = FollowType.LEASH;
                 break;
 
@@ -335,15 +333,8 @@ public static FollowType followModeToType(FollowAlgorithm.FollowModes followMode
                 break;
 
             case ABOVE:
-                followType = FollowType.ABOVE;
-                break;
-
-            case SPLINE_LEASH:
-                followType = FollowType.SPLINE_LEASH;
-                break;
-
             case SPLINE_ABOVE:
-                followType = FollowType.SPLINE_ABOVE;
+                followType = FollowType.ABOVE;
                 break;
 
             case GUIDED_SCAN:
@@ -918,7 +909,7 @@ public static void enableFollowMe(DroneManager droneMgr, Handler droneHandler, F
         if (droneMgr == null)
             return;
 
-        final FollowAlgorithm.FollowModes selectedMode = CommonApiUtils.followTypeToMode(followType);
+        final FollowAlgorithm.FollowModes selectedMode = CommonApiUtils.followTypeToMode(droneMgr.getDrone(), followType);
 
         if (selectedMode != null) {
             final Follow followMe = droneMgr.getFollowMe();