public static async Task <List <Locationwp> > download(MAVLinkInterface port, byte sysid, byte compid, MAVLink.MAV_MISSION_TYPE type, Action <int, string> progress = null)
{
List <Locationwp> commandlist = new List <Locationwp>();
try
{
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
bool use_supportfence = (port.MAVlist[sysid, compid].cs.capabilities & (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.MISSION_FENCE) > 0;
bool use_int = (port.MAVlist[sysid, compid].cs.capabilities & (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.MISSION_INT) > 0;
if (!use_supportfence && type == MAVLink.MAV_MISSION_TYPE.FENCE)
{
throw new Exception("Fence mission items not supported, please use legacy geofence");
}
if (!use_supportfence && !port.MAVlist[sysid, compid].mavlinkv2 && type != MAVLink.MAV_MISSION_TYPE.MISSION)
{
throw new Exception("Mission type only supported under mavlink2");
}
progress?.Invoke(0, "Getting WP count");
log.Info("Getting WP # " + type);
int cmdcount = await port.getWPCountAsync(sysid, compid, type).ConfigureAwait(false);
for (ushort a = 0; a < cmdcount; a++)
{
log.Info("Getting WP" + a);
progress?.Invoke((a * 100) / cmdcount, "Getting WP " + a);
commandlist.Add(await port.getWPAsync(sysid, compid, a, type).ConfigureAwait(false));
}
port.setWPACK(sysid, compid, type);
progress?.Invoke(100, "Done");
log.Info("Done " + type);
}
catch (Exception ex)
{
log.Error(ex);
throw;
}
return(commandlist);
}