Android Tutorial DJI virtual stick-tutorial, waypoint- and hotpoint-mission for DJI Mini- and Air-series

Sub Process_Globals
    ...
    Public sdk As DJISDKManager
    Private aircraft As DJIAircraft
    Private controller As DJIFlightController
    Private camera As DJICamera
 
    'We make an instance of the aircraft and flightcontroller for the later used javaobjects
    Dim AircraftInstance As JavaObject
    Dim FlightControllerInstance As JavaObject
    ….
    ..
End Sub

Sub AfterAircraftConnected
    ....
    ..
    'initialize it in this sub of Erel’s example:
    AircraftInstance=aircraft
    FlightControllerInstance=AircraftInstance.RunMethod("getFlightController", Null)
    ..
    ....
End Sub

Private Sub StartVirtualStick
    Dim callback As Object = FlightControllerInstance.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallback", "setvirtualstickcallback", Null)
    FlightControllerInstance.RunMethod("setVirtualStickModeEnabled",Array(True, callback))    'switch on/off the virtual joysticks

    Wait For (FlightControllerInstance) setvirtualstickcallback_Event (MethodName As String, args() As Object)
    If args(0) = Null Then
        Log("VirtualStickMode enabled!")
        SetParameterVirtualStick
    Else
        Log("Error SetVirtualStickMode: " & args(0))
    End If
End Sub

If controller.IsInitialized Then
    Dim St As DJIFlightControllerCurrentState = controller.CurrentState
    If St.Flying Then StartVirtualStick
End if

Private Sub TurnMotorsOn
    Dim callback As Object = FlightControllerInstance.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallback", "motorsoncallback", Null)
    FlightControllerInstance.RunMethod("turnOnMotors",Array(callback))

    Wait For (FlightControllerInstance) motorsoncallback_Event (MethodName As String, args() As Object)
    If args(0) = Null Then
        Log("Motors on!")
        StartVirtualStick
    Else
        Log("Error motors on: " & args(0))
    End If
End Sub

...
dim virtualStickAvailable, virtualStickAdvancedEnabled as boolean
..
Private Sub SetParameterVirtualStick
    FlightControllerInstance.RunMethod("setVirtualStickAdvancedModeEnabled", Array(True))
 
    virtualStickAvailable = FlightControllerInstance.RunMethod("isVirtualStickControlModeAvailable", Null)
    virtualStickAdvancedEnabled = FlightControllerInstance.RunMethod("isVirtualStickAdvancedModeEnabled", Null)
 
    Log($"virtual stick available: ${virtualStickAvailable}"$)
    Log($"virtual stick advanced enabled: ${virtualStickAdvancedEnabled}"$)
    If virtualStickAvailable And virtualStickAdvancedEnabled Then
  
        'Modes mit set manuell setzen und Ergebnis mit get zur Kontrolle auslesen :
        FlightControllerInstance.RunMethod("setRollPitchControlMode", Array("VELOCITY"))    'Roll und Nick in Meter pro Sekunden eingeben: Bereich -15m/s bis +15m/s (0=Stop)
        FlightControllerInstance.RunMethod("setYawControlMode", Array("ANGLE"))                'Richtung in Abhängigkeit vom Norden in Grad eingeben: Bereich -180 bis +180 (0=Nord)
        FlightControllerInstance.RunMethod("setVerticalControlMode", Array("POSITION"))        'Höhe in Meter eingeben!
        FlightControllerInstance.RunMethod("setRollPitchCoordinateSystem", Array("BODY"))    'Koordinatensystem von der Lage der Drohne abhängig machen, da ansonsten Roll und Pitch von Nord anhängig sind!
  
        Dim RollPitchControlMode As String = FlightControllerInstance.RunMethod("getRollPitchControlMode", Null)
        Log("RollPitchControlMode: "& RollPitchControlMode)
  
        Dim YawControlMode As String = FlightControllerInstance.RunMethod("getYawControlMode", Null)
        Log("YawControlMode: " & YawControlMode)
  
        Dim VerticalControlMode As String = FlightControllerInstance.RunMethod("getVerticalControlMode", Null)
        Log("VerticalControlMode: " & VerticalControlMode)
  
        Dim RollPitchCoordinateSystem As String = FlightControllerInstance.RunMethod("getRollPitchCoordinateSystem", Null)
        Log("RollPitchCoordinateSystem: " & RollPitchCoordinateSystem)
  
        TimerVirtualStick.enabled = True
    Else
        TimerVirtualStick.enabled = False
    End If
End Sub

TimerVirtualStick.Initialize("TimerVirtualStick", 50)

Sub CreateHardwareStateListener
    Dim RemoteController As JavaObject = aircraft
    RemoteController = RemoteController.RunMethod("getRemoteController", Null)
    Dim callback As Object = RemoteController.CreateEventFromUI("dji.common.remotecontroller.HardwareState$HardwareStateCallback", "HardwareState", Null)
    RemoteController.RunMethod("setHardwareStateCallback", Array(callback))
End Sub

Sub HardwareState_Event (MethodName As String, Args() As Object) As Object
    Dim HardwareState As JavaObject = Args(0)
    Dim c1button As JavaObject = HardwareState.RunMethod("getC1Button", Null)
    Dim IsClicked As Boolean = c1button.RunMethod("isPresent", Null) 'ignore

    If TimerVirtualStick.Enabled=True Then
        Dim Lstick As JavaObject = HardwareState.RunMethod("getLeftStick", Null)
        Dim Lhoriz As Int = Lstick.RunMethod("getHorizontalPosition", Null)
        Dim Lvert As Int = Lstick.RunMethod("getVerticalPosition", Null)
        Log($"left stick H value: ${Lhoriz}"$)    '-660 bis +660
        Log($"left stick V value: ${Lvert}"$)    '-660 bis +660
  
        Dim Rstick As JavaObject = HardwareState.RunMethod("getRightStick", Null)
        Dim Rhoriz As Int = Rstick.RunMethod("getHorizontalPosition", Null)
        Dim Rvert As Int = Rstick.RunMethod("getVerticalPosition", Null)
        Log($"right stick H value: ${Rhoriz}"$)
        Log($"right stick V value: ${Rvert}"$)
  
        If Rhoriz<>0 Or Rvert<>0 Then StopVirtualStick    'Beim Betätigen des rechten Sticks VS aufheben!
 
    End If

    Return Null
End Sub

Private Sub StopVirtualStick
    FlightControllerInstance.RunMethod("setVirtualStickModeEnabled",Array(False, Null))    'switch on/off the virtual joysticks
    FlightControllerInstance.RunMethod("setVirtualStickAdvancedModeEnabled", Array(False))
    TimerVirtualStick.enabled = False
End Sub

..
SetConnectionFailSafeBehavior("GO_HOME")
...
Private Sub SetConnectionFailSafeBehavior(FailSafeMode As String)
    Dim callback As Object = FlightControllerInstance.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallback", "failsafebehaviorcallback", Null)
    FlightControllerInstance.RunMethod("setConnectionFailSafeBehavior", Array(FailSafeMode,callback))

    Wait For (FlightControllerInstance) failsafebehaviorcallback_Event (MethodName As String, args() As Object)
    If args(0) = Null Then
        SignalverlustState=FailSafeMode
        Log("Set FailSafeBehavior to: " & FailSafeMode)
    Else
        Log("Error setting FailSafeBehavior: " & args(0))
    End If
End Sub

'Check the failsafe-settings with this sub:
Private Sub GetConnectionFailSafeBehavior
    Dim callback As Object = FlightControllerInstance.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallbackWith", "getfailsafebehaviorcallback", Null)
    FlightControllerInstance.RunMethod("getConnectionFailSafeBehavior", Array(callback))
 
    Wait For (FlightControllerInstance) getfailsafebehaviorcallback_Event (MethodName As String, args() As Object)
    Dim GetFailSafeBehavior As String =args(0)
    Log("GetFailSafeBehavior: " & GetFailSafeBehavior)
End Sub

If controller.IsInitialized Then
        'RTH-Höhe setzen:
        Dim sf As Object = controller.SetGoHomeHeightInMeters(manager.GetString("flytoalt"))
        Wait For (sf) controller_Result (Success As Boolean, ErrorMessage As String)
        If Success Then
            Dim currentstate As DJIFlightControllerCurrentState
            currentstate=controller.CurrentState
            Log("RTH-Höhe:" & currentstate.GoHomeHeight)
            RTHHoeheState=currentstate.GoHomeHeight
        Else
            Log("Error: " & ErrorMessage)
        End If
End if

Dim AutoFLightSpeed As Int = 15  'max speed in vs-mode
Dim VSLocation As Location
VSLocation.Initialize2(gmap.CameraPosition.Target.Latitude, gmap.CameraPosition.Target.Longitude)     'We could fly to a point of the map
VSLocation.Altitude=45

Sub TimerVirtualStick_Tick
    WayPointVirtualStick(VSLocation)
End Sub

Sub WayPointVirtualStick(WPLocation As Location)
 
    Dim mRoll As Float = 0
    Dim mYaw As Float = 0
 
    Dim St As DJIFlightControllerCurrentState = controller.CurrentState
 
    Dim DroneLocation As Location
    DroneLocation.Initialize2(St.AircraftLocation.Latitude, St.AircraftLocation.Longitude)
    DroneLocation.Altitude=St.AircraftLocation.Altitude
 
    Dim VirtualStickBearing As Float = DroneLocation.BearingTo(WPLocation)
    Dim VirtualStickDistance As Float = DroneLocation.DistanceTo(WPLocation)
    Dim VirtualStickAltitudeDifference As Double = Abs(Round(DroneLocation.Altitude)-WPLocation.Altitude)
 
    Select True
        Case VirtualStickAltitudeDifference>1
            mYaw=VirtualStickBearing
  
        Case Abs(St.Attitude.Yaw-VirtualStickBearing)>5
            mYaw=VirtualStickBearing
      
        Case VirtualStickDistance>60
            mYaw=VirtualStickBearing
            mRoll=AutoFLightSpeed
      
        Case VirtualStickDistance>2 And VirtualStickDistance<=60
            mYaw=VirtualStickBearing
            mRoll=Min(VirtualStickDistance/4, AutoFLightSpeed)
      
        Case Else
            mYaw=VirtualStickBearing
            mRoll=0
            StopVirtualStick
            'Do, what ever you want after reaching the waypoint:
            AddWayPointAction("GIMBAL_PITCH", "-90")
      
    End Select
    sendVirtualStickFlightControlData(0,mRoll, mYaw, WPLocation.Altitude)
End Sub

Sub sendVirtualStickFlightControlData(Pitch As Float, Roll As Float, Yaw As Float, Throttle As Float)
    Try
        Dim FlightControlData As JavaObject
        FlightControlData.InitializeNewInstance("dji.common.flightcontroller.virtualstick.FlightControlData", Array(Pitch, Roll, Yaw, Throttle) )
        FlightControllerInstance.RunMethod("sendVirtualStickFlightControlData",Array( FlightControlData, Null) )
    Catch
        Log(LastException)
    End Try
End Sub

Dim callback As Object=HotPointMissionControl.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallbackWith", "getmaxangularvelocitycallback", Null)
HotPointMissionControl.RunMethod("getMaxAngularVelocityForRadius", Array(RadiusAufklaerung,callback))
Wait For (HotPointMissionControl) getmaxangularvelocitycallback_Event (MethodName As String, args() As Object)
Dim MaxAngularVelocity As Float = args(0)