WARG Groundstation Module: util/Commands

Manages sending the picpilot commands. Writes to the data relay connection to send commands. Validates data before sending it out using the Validator module.

Author:

Serge Babayan

Copyright:

Waterloo Aerial Robotics Group 2016

Source:

models/Commands.js, line 1

See:

http://docs.uwarg.com/picpilot/datalink/

Requires

module:util/Validator
module:SimulationManager
module:util/Logger
module:Network
module:config/picpilot-config

Methods

<inner> activateWriteMode()

Actives write mode for the groundstation, allowing the groundstation to send commands that affect the autopilot

Source:

models/Commands.js, line 107

Returns:

Whether the command sent successfully

Type: boolean

<inner> appendWaypoint(lat, lon, alt, radius, probe_drop)

Appends a waypoint to the autopilots flight plan

Parameters:

Name	Type	Description
`lat`	string \| Number	Latitude of waypoint
`lon`	string \| Number	Longitude of waypoint
`alt`	string \| Number	Altitude of waypoint
`radius`	string \| Number	Radius, in m, of the waypoint
`probe_drop`	boolean	Whether the waypoint is a probe drop location

Source:

models/Commands.js, line 438

Returns:

Whether the command sent successfully

Type: boolean

<inner> armPlane()

Arms the plane

Source:

models/Commands.js, line 311

Returns:

Whether the command sent successfully

Type: boolean

<inner> checkConnection()

Checks whether there is an active data relay connection

Source:

models/Commands.js, line 22

Returns:

Connection status

Type: boolean

<inner> clearWaypoints()

Clears all the waypoints for the path manager

Source:

models/Commands.js, line 378

Returns:

Whether the command sent successfully

Type: boolean

<inner> disarmPlane()

Disarms the plane

Source:

models/Commands.js, line 320

Returns:

Whether the command sent successfully

Type: boolean

<inner> dropProbe(number)

Drop a probe

Parameters:

Name	Type	Description
`number`	string \| Number	The probe number of which to drop

Source:

models/Commands.js, line 347

Returns:

Whether the command sent successfully

Type: boolean

<inner> followPath(status)

Tell the aircraft to follow the flight plan

Parameters:

Name	Type	Description
`status`	boolean	Whether the plane should follow the flight plan

Source:

models/Commands.js, line 515

Returns:

Whether the command sent successfully

Type: boolean

<inner> insertWaypoint(index, lat, lon, alt, radius)

Inserts a waypoint at a specified index to the autopilot's flight plan

Parameters:

Name	Type	Description
`index`	int	The index of the waypoint
`lat`	string \| Number	Latitude of waypoint
`lon`	string \| Number	Longitude of waypoint
`alt`	string \| Number	Altitude of waypoint
`radius`	string \| Number	Radius, in m, of the waypoint

Source:

models/Commands.js, line 458

Returns:

Whether the command sent successfully

Type: boolean

<inner> insertWaypoint(index, lat, lon, alt, radius, probe_drop)

Inserts a waypoint at a specified index to the autopilot's flight plan

Parameters:

Name	Type	Description
`index`	int	The index of the waypoint
`lat`	string \| Number	Latitude of waypoint
`lon`	string \| Number	Longitude of waypoint
`alt`	string \| Number	Altitude of waypoint
`radius`	string \| Number	Radius, in m, of the waypoint
`probe_drop`	boolean	Whether the waypoint is a probe drop location

Source:

models/Commands.js, line 478

Returns:

Whether the command sent successfully

Type: boolean

<inner> killPlane()

Kills the plane

Source:

models/Commands.js, line 329

Returns:

Whether the command sent successfully

Type: boolean

<inner> removeWaypoint(index)

Removes a waypoint from the autopilot's flight plan

Parameters:

Name	Type	Description
`index`	String \| Number	The id of the waypoint

Source:

models/Commands.js, line 499

Returns:

Whether the command sent successfully

Type: boolean

<inner> resetProbe(number)

Reset a probe

Parameters:

Name	Type	Description
`number`	string \| Number	The probe number of which to drop

Source:

models/Commands.js, line 362

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendAltitude(altitude)

Sends a altitude value to the autopilot

Parameters:

Name	Type	Description
`altitude`	string \| Number	The altitude in m

Source:

models/Commands.js, line 164

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendAutoLevel(level)

Sends an autonomous level to the picpilot. Check the datalink docs for more info

Parameters:

Name	Type	Description
`level`	string \| Number	The autonomous level as a decimal value

Source:

models/Commands.js, line 295

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendCommand(command, value)

Sends a regular command to the data relay

Parameters:

Name	Type	Description
`command`	string	The command name
`value`	string \| Number	The value of the command. This can be lots of different parameters

Source:

models/Commands.js, line 59

Returns:

Whether the command was successfully sent. Will return false if there is no connection and the simulator isn't active

Type: boolean

Example

Commands.sendCommand('awesomeCommand', 'value1', 'value2', 'value3');
//will send this through the data relay
//awesomeCommand:value1, value2, value3

<inner> sendFlap(flap)

Sends a flap value to the autopilot

Parameters:

Name	Type	Description
`flap`	string \| Number	The flap percentage (0 is no flaps, 100% is full flaps)

Source:

models/Commands.js, line 196

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendHeading(heading)

Sends a heading value to the autopilot

Parameters:

Name	Type	Description
`heading`	string \| Number	The heading in degrees (0-360)

Source:

models/Commands.js, line 148

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendHeartbeat()

Send a heartbeat to the plane

Source:

models/Commands.js, line 530

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendKDGain(type, gain)

Sends a kd gain value to the autopilot

Parameters:

Name	Type	Description
`type`	string	One of: `flap`, `altitude`, `throttle`, `heading`, `roll`, `pitch`, `yaw`
`gain`	string \| Number	The gain value

Source:

models/Commands.js, line 246

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendKIGain(type, gain)

Sends a ki gain value to the autopilot

Parameters:

Name	Type	Description
`type`	string	One of: `flap`, `altitude`, `throttle`, `heading`, `roll`, `pitch`, `yaw`
`gain`	string \| Number	The gain value

Source:

models/Commands.js, line 229

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendKPGain(type, gain)

Sends a kp gain value to the autopilot

Parameters:

Name	Type	Description
`type`	string	One of: `flap`, `altitude`, `throttle`, `heading`, `roll`, `pitch`, `yaw`
`gain`	string \| Number	The gain value

Source:

models/Commands.js, line 212

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendOrbitGain(gain)

Sends a orbital gain value to the autopilot

Parameters:

Name	Type	Description
`gain`	string \| Number	The gain value

Source:

models/Commands.js, line 279

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendPathGain(gain)

Sends a path gain value to the autopilot

Parameters:

Name	Type	Description
`gain`	string \| Number	The gain value

Source:

models/Commands.js, line 263

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendPitch(pitch)

Sends a pitch value to the autopilot

Parameters:

Name	Type	Description
`pitch`	string \| Number	The pitch in degrees

Source:

models/Commands.js, line 132

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendProtectedCommand(command)

Sends a protected command (a command requiring a password appended after the command)

Parameters:

Name	Type	Description
`command`	string

Source:

models/Commands.js, line 41

Returns:

Whether the command was successfully sent. Will return false if there is no connection and the simulator isn't active

Type: boolean

<inner> sendRawCommand(command)

Sends a raw command (no formatting) to the data relay

Parameters:

Name	Type	Description
`command`	string	The command string

Source:

models/Commands.js, line 89

Returns:

Whether the command was successfully sent. Will return false if there is no connection and the simulator isn't active

Type: boolean

<inner> sendRoll(roll)

Sends a roll value to the autopilot

Parameters:

Name	Type	Description
`roll`	string \| Number	The roll in degrees

Source:

models/Commands.js, line 116

Returns:

Whether the command sent successfully

Type: boolean

<inner> sendThrottle(throttle)

Sends a throttle value to the autopilot

Parameters:

Name	Type	Description
`throttle`	string \| Number	The percentage value of the throttle

Source:

models/Commands.js, line 180

Returns:

Whether the command sent successfully

Type: boolean

<inner> setTargetWaypoint(number)

Sets the target waypoint for the autopilot's path manager

Parameters:

Name	Type	Description
`number`	String \| Number	The id of the waypoint

Source:

models/Commands.js, line 387

Returns:

Whether the command sent successfully

Type: boolean

<inner> unkillPlane()

Unkills the plane

Source:

models/Commands.js, line 338

Returns:

Whether the command sent successfully

Type: boolean