Update bouncy-flight.js

bouncy-flight.js

@@ -10,94 +10,46 @@
 (function (console, me) {
   "use strict";
 
-  var EPSILON = 42,
-    FLIGH_ALTITUDE = 100,
+  var ALTITUDE = 100,
+    EPSILON = 9,
     CHECKPOINT_LIST = [
       {
-        "altitude": 604,
-        "latitude": 45.641,
-        "longitude": 14.26472
+        latitude: 45.64492790560583,
+        longitude: 14.25334942966329
       },
       {
-        "altitude": 642,
-        "latitude": 45.6463889,
-        "longitude": 14.2516
+        latitude: 45.64316335436476,
+        longitude: 14.26332880184475
       },
       {
-        "altitude": 596,
-        "latitude": 45.656,
-        "longitude": 14.2516
+        latitude: 45.64911917196595,
+        longitude: 14.26214792790128
       },
       {
-        "altitude": 634,
-        "latitude": 45.65916,
-        "longitude": 14.255
+        latitude: 45.64122685351364,
+        longitude: 14.26590493128597
       },
       {
-        "altitude": 676,
-        "latitude": 45.6527,
-        "longitude": 14.2775
+        latitude: 45.64543355564817,
+        longitude: 14.27242391207985
       },
       {
-        "altitude": 589,
-        "latitude": 45.6427,
-        "longitude": 14.2519
+        latitude: 45.6372792927328,
+        longitude: 14.27533492411138
       },
       {
-        "altitude": 582,
-        "latitude": 45.641,
-        "longitude": 14.254
+        latitude: 45.64061299543953,
+        longitude: 14.26161958465814
       },
       {
-        "altitude": 686,
-        "latitude": 45.6558,
-        "longitude": 14.2775
-      },
-      {
-        "altitude": 667,
-        "latitude": 45.6594,
-        "longitude": 14.271
-      },
-      {
-        "altitude": 581,
-        "latitude": 45.641,
-        "longitude": 14.258
-      },
-      {
-        "altitude": 584,
-        "latitude": 45.653,
-        "longitude": 14.2516
-      },
-      {
-        "altitude": 633,
-        "latitude": 45.6594,
-        "longitude": 14.26194
-      },
-      {
-        "altitude": 621,
-        "latitude": 45.641,
-        "longitude": 14.2716
-      },
-      {
-        "altitude": 642,
-        "latitude": 45.644,
-        "longitude": 14.2775
-      },
-      {
-        "altitude": 660,
-        "latitude": 45.6594,
-        "longitude": 14.26638
-      },
-      {
-        "altitude": 591,
-        "latitude": 45.6508,
-        "longitude": 14.25194
+        latitude: 45.64032340702919,
+        longitude: 14.2682896662383
       }
     ];
 
   function distance(lat1, lon1, lat2, lon2) {
     var R = 6371e3, // meters
-      la1 = lat1 * Math.PI / 180, // la, lo in radians
+      la1 = lat1 * Math.PI / 180, // lat, lon in radians
       la2 = lat2 * Math.PI / 180,
       lo1 = lon1 * Math.PI / 180,
       lo2 = lon2 * Math.PI / 180,
@@ -107,72 +59,43 @@
     return 2 * R * Math.asin(Math.sqrt(h));
   }
 
-  function exit_on_fail(ret, msg) {
-    if (ret) {
-      console.log(msg);
-      me.exit(1);
-    }
-  }
-
-  function mustWait(timestamp) {
-    if (me.timestamp === 0) {
-      me.timestamp = timestamp;
-    }
-    return timestamp - me.timestamp < me.must_wait;
-  }
-
-  me.onStart = function () {
+  me.onStart = function (timestamp) {
     me.direction_set = false;
     me.next_checkpoint = 0;
+    me.takeOff();
   };
 
   me.onUpdate = function (timestamp) {
-    if (me.must_wait > 0) {
-      if (!mustWait(timestamp)) {
-        me.must_wait = 0;
-        me.timestamp = 0;
-      }
-      return;
-    }
-
+    if (!me.isReadyToFly()) { return; }
     if (!me.direction_set) {
       if (me.next_checkpoint < CHECKPOINT_LIST.length) {
-        exit_on_fail(
         me.setTargetCoordinates(
           CHECKPOINT_LIST[me.next_checkpoint].latitude,
           CHECKPOINT_LIST[me.next_checkpoint].longitude,
-            CHECKPOINT_LIST[me.next_checkpoint].altitude + FLIGH_ALTITUDE
-          ),
-          "Failed to set checkpoint coordinates"
+          ALTITUDE + ALTITUDE * me.id,
+          5
         );
-        console.log("[DEMO] Going to Checkpoint " + me.next_checkpoint + "\n");
+        console.log("[DEMO] Going to Checkpoint %d", me.next_checkpoint);
       }
       me.direction_set = true;
       return;
     }
-
     if (me.next_checkpoint < CHECKPOINT_LIST.length) {
       me.current_position = me.getCurrentPosition();
       me.distance = distance(
-        me.current_position.x,
-        me.current_position.y,
+        me.current_position.latitude,
+        me.current_position.longitude,
         CHECKPOINT_LIST[me.next_checkpoint].latitude,
         CHECKPOINT_LIST[me.next_checkpoint].longitude
       );
-      if (me.distance > EPSILON) {
-        console.log(
-          "Waiting for drone to get to destination (" + me.distance + " m)"
-        );
-      } else {
-        console.log("[DEMO] Reached Checkpoint " + me.next_checkpoint + "\n");
+      if (me.distance <= EPSILON) {
+        console.log("[DEMO] Reached Checkpoint %d", me.next_checkpoint);
         me.next_checkpoint += 1;
         me.direction_set = false;
       }
       return;
     }
-
-    console.log("[DEMO] Deploying parachute...");
-    exit_on_fail(me.triggerParachute(), "Failed to deploy parachute");
-    me.exit(0);
+    if (!me.isLanding()) { me.land(); }
+    if (me.getCurrentPosition().altitude <= 0) { me.exit(0); }
   };
 }(console, me));