AstaZero ATOS drone demo app

Introduction

This is the AstaZero ATOS drone demo app.

Requirements

• Android Studio 2.0+
• Android System 4.1+
• DJI Android SDK 4.16.1

Building for android

These build instructions have been tested and are confirmed working on ubuntu 20.04.

Dependencies

Install swig:

sudo apt install swig

Download Android Studio by visiting https://developer.android.com/studio/install and downloading the zip file. Unzip the file and execute ./studio.sh located in /android-studio/bin to start the IDE.

Inside the IDE, go to Tools -> SDK Manager -> SDK Tools -> Show package details -> NDK 25.1.8937393 and check it, this downloads NDK 25.1.8937393 to the location ~/Android/Sdk/ndk/##.#.######.

Build steps

Start by building boost for Android:

Cross compiling boost

git clone [email protected]:moritz-wundke/Boost-for-Android.git
cd Boost-for-Android

Modify the file build-android.sh to only build for arm64-v8a, only with the system component of the boost library and as a dynamically linked library. This is done by finding and modifying the variables accordingly:

LIBRARIES=--with-system
ARCHLIST=arm64-v8a

And at the ./b2 command, modify link=static to:

link=shared

Execute the script to build Boost::System for Android (arm64-v8a):

./build-android.sh "/path/to/ndk-25/"

The resulting files end up in:

Boost-for-Android/build/out/arm64-v8a/include
Boost-for-Android/build/out/arm64-v8a/lib

We now build the app, linking it to boost and libraries and deploy it using AndroidStudio

Build and deploy with AndroidStudio

Clone the repository:

git clone [email protected]:RI-SE/Android-GSDemo-GoogleMap.git

Clone the isoObject repo containing ISO22133 object implementation:

git clone [email protected]:RI-SE/isoObject.git

Change directory to the isoObject repo and initialize and update git submodules:

cd isoObject && git submodule update --init --recursive

Open the project Android-GSDemo-GoogleMap in AndroidStudio. In the build.gradle file, modify my_boost_dir such that it matches the lib and include locations of the boost dirs built following the steps of the previous subsection

The app can now be built and deployed to an Android phone.

Common problems

HeabTimeout

ATOS and the ISOobject have set HEAB timeouts, depending on the network connection this might cause either to timeout and cause abort. Raising this value in both can be used as a workaround if this is the the reason for aborting.

Invalid MONR

The iso MONR message has separate boolean values specifying if the position is valid or not. These need to be set for the MONR message to be correctly encoded.