Mise a jour des fonctions de test

Com_server/test/src/Data_Drone.cpp

@@ -136,6 +136,7 @@ int Drone::command_arm(int param1)
     command.command = MAV_CMD_COMPONENT_ARM_DISARM;
     command.confirmation = false;
     command.param1           = param1;
+	command.param2           = 21196;
 
     mavlink_msg_command_long_encode(255, 1, &message, &command);
 
@@ -226,6 +227,40 @@ int Drone::landing()
 
     return  write_message(message);
 }
+
+//============================================TEST=============================================================
+
+int Drone::move_to(float param1, float param2, float param3) 
+{
+	int16_t xx,yy,zz;
+	xx=(int16_t)param1; yy=(int16_t)param2; zz=(int16_t)param3;
+    //Message buffer
+    mavlink_message_t message;
+    mavlink_command_long_t command;
+	  // printf("Demande au drone de tourner vers la droite \n");
+    command = mavlink_newCommand();
+    command.target_system = 1;
+    command.target_component = 1;
+    command.command = MAV_FRAME_LOCAL_NED;
+    command.confirmation = false;
+    command.param1 = param1;
+
+    mavlink_msg_command_long_encode(255, 1, &message, &command);
+
+   if(param1 >0)
+    {
+        //Display_IHM::getInstanceOf().printLog("ARMING");
+    }else
+    {
+        //Display_IHM::getInstanceOf().printLog("STOP ARMING");
+    }
+
+    return write_message(message);
+}
+
+//===============================================================================================================
+
+
 int Drone::command_right(float param1) 
 {
     //Message buffer
@@ -289,7 +324,7 @@ int Drone::command_setModeGuided(float param1)
     command.target_system = 1;
     command.target_component = 1;
     command.command          = MAV_CMD_NAV_GUIDED_ENABLE;
-    command.confirmation     = false;
+    command.confirmation     = true; //false;
     command.param1           = param1; // flag >0.5 => start, <0.5 => stop
 
     mavlink_msg_command_long_encode(255, 1, &message, &command);
@@ -330,7 +365,7 @@ int Drone::command_directControl(float x, float y, float z, float r)
 	int16_t xx,yy,zz,rr;
 	xx=(int16_t)x; yy=(int16_t)y; zz=(int16_t)z; rr=(int16_t)r;
   //  mavlink_msg_manual_control_pack(255, 1, &message, 1, 0, xx, yy, zz, rr);
-        mavlink_msg_manual_control_pack(255, 1, &message, 0, xx, yy, zz, rr,0);
+        mavlink_msg_manual_control_pack(255, 1, &message, 1, xx, yy, zz, rr,1);
 
   cout<<"command_directControl  : "<<xx<<" "<<yy<<" "<<zz<<" "<<rr<<" "<<endl;
   return write_message(message);
@@ -448,6 +483,57 @@ mavlink_command_long_t Drone::mavlink_newCommand()
     return com;
 }
 
+/*
+PARAM_REQUEST_LIST 
+Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html
+
+mavlink_param_union_t param;
+int32_t integer = 20000;
+param.param_int32 = integer;
+param.type = MAV_PARAM_TYPE_INT32;
+
+// Then send the param by providing the float bytes to the send function
+mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx);
+
+??????   mavlink_msg_param_set_send ( 255, 1,  20000, MAV_PARAM_TYPE_INT32, ????)
+
+static inline void mavlink_msg_param_set_send( mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type)
+*/
+/**
+ * @brief Send a param_set message
+ * @param chan MAVLink channel to send the message   : 255
+ *
+ * @param target_system  System ID  : 1 
+ * @param target_component  Component ID
+ * @param param_id  Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ * @param param_value  Onboard parameter value
+ * @param param_type  Onboard parameter type.
+ */
+
+
+/*
+ You need to assign base_mode, main_mode, and sub_mode.
+For instance, in order to trigger ‘position’ flight mode, you can use the following pymavlink code. I think that it will be same in dronekit code.
+
+master.mav.command_long_send ( master.target_system, master.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0, base_mode, main_mode, sub_mode, 0, 0, 0, 0)
+
+sub_mode is only defined for the AUTO_MOD
+
+master.mav.command_long_send( master.target_system, master.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0, 217, 3, 0, 0, 0, 0, 0)
+ 
+    Manual: base_mode:217, main_mode:1, sub_mode:0
+    Stabilized: base_mode:209, main_mode:7, sub_mode:0
+    Acro: base_mode:209, main_mode:5, sub_mode:0
+    Rattitude: base_mode:193, main_mode:8, sub_mode:0
+    Altitude: base_mode:193, main_mode:2, sub_mode:0
+    Offboard: base_mode:209, main_mode:6, sub_mode:0
+    Position: base_mode:209, main_mode:3, sub_mode:0
+    Hold: base_mode:217, main_mode:4, sub_mode:3
+    Missition: base_mode:157, main_mode:4, sub_mode:4
+    Return: base_mode:157, main_mode:4, sub_mode:5
+    Follow me: base_mode:157, main_mode:4, sub_mode:8
+*/
+
 int Drone::command_setMode(Drone_mode mode)
 {
     switch(mode)