private FlightAdjustment FreeStyle()
{
var fa = new FlightAdjustment();
if (_flightVector == null) return fa;
// TODO: Rewrite to return an FA instead of powering directly.
/*
var quadrant = _flightVector.RelativeQuadrant;
if (quadrant > 0) quadrant--;
for (byte propId = 0; propId < 4; propId++)
{
var power = propId == quadrant ? (int) _flightVector.Magnitude : 0;
_propellors[propId].SetPower(power);
}
*/
return fa;
}
private void AdjustFlight(FlightAdjustment adjustment)
{
const int MAX_ADJUSTMENT = 2;
// Roll
var adjAmt = (int) adjustment.Roll / 2;
if (adjAmt == 0)
{
_propellors[1].SetPower(_powerBase);
_propellors[3].SetPower(_powerBase);
return;
}
if (adjAmt > MAX_ADJUSTMENT) adjAmt = MAX_ADJUSTMENT;
if (adjAmt < MAX_ADJUSTMENT * (-1)) adjAmt = MAX_ADJUSTMENT * (-1);
_propellors[1].SetPower(_powerBase + adjAmt);
_propellors[3].SetPower(_powerBase - adjAmt);
#if DEBUG
Debug.Print("#1: " + _propellors[1].GetPowerLevel() + " #2: " + _propellors[3].GetPowerLevel());
#endif
/*
// Pitch
var pitchDirection = 0;
if (adjustment.Pitch > 0) pitchDirection = 1;
if (adjustment.Pitch < 0) pitchDirection = -1;
adjAmt = (int) adjustment.Pitch/2*pitchDirection;
_propellors[1].AdjustPower(adjAmt);
_propellors[3].AdjustPower(adjAmt * (-1));
*/
}
