Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

geofence example added #16

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

geofence example added #16

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
50 changes: 50 additions & 0 deletions mav-sdk/examples/geofence.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
use mav_sdk::Drone;

const MAVSDK_SERVER: &str = "http://127.0.0.1:4000";

#[tokio::main]
async fn main() {
let mut drone = Drone::connect(MAVSDK_SERVER).await.expect("Should connect");
println!("We have a DRONE connection with {}", MAVSDK_SERVER);

println!("Uploading Geofence...");

let upload_geofence_request = mav_sdk::grpc::geofence::UploadGeofenceRequest { polygons: vec![
mav_sdk::grpc::geofence::Polygon {
points:vec![mav_sdk::grpc::geofence::Point{ latitude_deg: 0.0, longitude_deg: 0.0 },mav_sdk::grpc::geofence::Point{ latitude_deg: 0.0, longitude_deg: 0.0 },mav_sdk::grpc::geofence::Point{ latitude_deg: 0.0, longitude_deg: 0.0 },mav_sdk::grpc::geofence::Point{ latitude_deg: 0.0, longitude_deg: 0.0 },], fence_type: 0, },
Copy link
Member

@elpiel elpiel Aug 27, 2022 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Ok, that's a great start. could we just add actual coordinates here?

  • Let's use the actual GPS coordinates of the drone (at the moment) and update the Polygon accordingly.
    E.g. current coordinates +/- a value in degrees in all directions to get a rectangle with a given size. Keep in mind that we work with degrees here so that we can define the distance in degrees, instead of size (i.e. ~0.125 degrees instead of ~14 km). We do need to choose a valid value as "Each degree of latitude is approximately 111 kilometres apart" (https://www.thoughtco.com/degree-of-latitude-and-longitude-distance-4070616).

  • Import Point, UploadGeofenceRequest, ClearGeofenceRequest

]};
let upload_geofence = drone
.geofence
.upload_geofence(upload_geofence_request)
.await
.expect("Should upload geofence");

println!(
"Upload Geofence: {}",
&upload_geofence
.get_ref()
.geofence_result
.as_ref()
.unwrap()
.result_str
);

println!("Clearing Geofence...");

let clear_geofence_request = mav_sdk::grpc::geofence::ClearGeofenceRequest {};
let clear_geofence = drone
.geofence
.clear_geofence(clear_geofence_request)
.await
.expect("Should clear geofence");

println!(
"Clear Geofence: {}",
&clear_geofence
.get_ref()
.geofence_result
.as_ref()
.unwrap()
.result_str
);
}