Merge pull request #172 from squilter/add_emergency_disarm

add magic number for emergency disarm

Author: m4gr3d

ClientLib/libs/Mavlink.jar

@@ -9,6 +9,7 @@
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_ARM;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_SET_VEHICLE_MODE;
 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_VEHICLE_MODE;
 
 /**
@@ -22,8 +23,20 @@ public class DroneStateApi {
      * @param arm true to arm, false to disarm.
      */
     public static void arm(Drone drone, boolean arm) {
+        arm(drone, arm, false);
+    }
+
+    /**
+     * Arm or disarm the connected drone.
+     *
+     * @param arm true to arm, false to disarm.
+     * @param emergencyDisarm true to skip landing check and disarm immediately,
+     *                        false to disarm only if it is safe to do so.
+     */
+    public static void arm(Drone drone, boolean arm, boolean emergencyDisarm) {
         Bundle params = new Bundle();
         params.putBoolean(EXTRA_ARM, arm);
+        params.putBoolean(EXTRA_EMERGENCY_DISARM, emergencyDisarm);
         drone.performAsyncAction(new Action(ACTION_ARM, params));
     }
 

ClientLib/src/main/java/com/o3dr/android/client/apis/drone/DroneStateApi.java

@@ -9,6 +9,7 @@ public class StateActions {
 
     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";
 
     public static final String ACTION_SET_VEHICLE_MODE = Utils.PACKAGE_NAME + ".action.SET_VEHICLE_MODE";
     public static final String EXTRA_VEHICLE_MODE = "extra_vehicle_mode";

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

@@ -403,7 +403,8 @@ public void performAction(Action action) throws RemoteException {
             //DRONE STATE ACTIONS
             case StateActions.ACTION_ARM:
                 boolean doArm = data.getBoolean(StateActions.EXTRA_ARM);
-                DroneApiUtils.arm(getDrone(), doArm);
+                boolean emergencyDisarm = data.getBoolean(StateActions.EXTRA_EMERGENCY_DISARM);
+                DroneApiUtils.arm(getDrone(), doArm, emergencyDisarm);
                 break;
 
             case StateActions.ACTION_SET_VEHICLE_MODE:

ServiceApp/src/org/droidplanner/services/android/api/DroneApi.java

@@ -671,9 +671,13 @@ static float generateDronie(Drone drone) {
     }
 
     static void arm(Drone drone, boolean arm) {
+        arm(drone, arm, false);
+    }
+
+    static void arm(Drone drone, boolean arm, boolean emergencyDisarm) {
         if (drone == null)
             return;
-        MavLinkArm.sendArmMessage(drone, arm);
+        MavLinkArm.sendArmMessage(drone, arm, emergencyDisarm);
     }
 
     static void startMagnetometerCalibration(Drone drone, boolean retryOnFailure, boolean saveAutomatically, int

ServiceApp/src/org/droidplanner/services/android/api/DroneApiUtils.java

@@ -119,7 +119,7 @@ public void testPreconditions() {
      */
     @Test
     public void testArm() {
-        MavLinkArm.sendArmMessage(drone, true);
+        MavLinkArm.sendArmMessage(drone, true, false);
         MAVLinkPacket data = mavlinkApi.getData();
         Assert.assertTrue(data != null);
 

ServiceApp/test/java/org/droidplanner/services/android/BasicTest.java

@@ -7,14 +7,16 @@
 
 public class MavLinkArm {
 
-	public static void sendArmMessage(Drone drone, boolean arm) {
+public static final int EMERGENCY_DISARM_MAGIC_NUMBER = 21196;
+
+	public static void sendArmMessage(Drone drone, boolean arm, boolean emergencyDisarm) {
 		msg_command_long msg = new msg_command_long();
 		msg.target_system = drone.getSysid();
 		msg.target_component = drone.getCompid();
 
 		msg.command = MAV_CMD.MAV_CMD_COMPONENT_ARM_DISARM;
 		msg.param1 = arm ? 1 : 0;
-		msg.param2 = 0;
+		msg.param2 = emergencyDisarm ? EMERGENCY_DISARM_MAGIC_NUMBER : 0;
 		msg.param3 = 0;
 		msg.param4 = 0;
 		msg.param5 = 0;