public void Arm()
{
_flightRecorder.Publish("Arm");
var msg = UasCommands.ComponentArmDisarm(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 1);
SendMessage(msg);
}
public void Takeoff()
{
_flightRecorder.Publish("Take off");
var msg = UasCommands.NavTakeoff(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, float.NaN, 0, TakeoffAltitude);
_connectedUasManager.Active.Transport.SendMessage(msg);
}
public void StartMission()
{
_flightRecorder.Publish("Start Mission");
var msg = UasCommands.MissionStart(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 5);
_connectedUasManager.Active.Transport.SendMessage(msg);
}
public void ReturnToHome()
{
_flightRecorder.Publish("Return Home");
var msg = UasCommands.NavReturnToLaunch(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId);
SendMessage(msg);
}
public void Land()
{
_flightRecorder.Publish("Land");
var msg = UasCommands.NavLandLocal(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 0, 0, 0);
SendMessage(msg);
}
public void Done()
{
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 2, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}
public void Next()
{
if (IsActive)
{
var ack = new UasCommandAck()
{
TargetComponent = _connectedUasManager.Active.Uas.ComponentId,
TargetSystem = _connectedUasManager.Active.Uas.SystemId,
Command = 1,
Result = 1,
};
_connectedUasManager.Active.Transport.SendMessage(ack);
}
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 1, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}
public void GetHomePosition()
{
var msg = UasCommands.GetHomePosition(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 0, 0, 0);
SendMessage(msg);
}
public void LowerLandingGear()
{
var msg = UasCommands.AirframeConfiguration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, -1, 0 /* down */, float.NaN, float.NaN, float.NaN, float.NaN, float.NaN);
_connectedUasManager.Active.Transport.SendMessage(msg);
}
public void StartTest()
{
var cmd = UasCommands.DoMotorTest(_mgr.Active.Uas.SystemId, _mgr.Active.Uas.ComponentId, 1, (float)MotorTestThrottleType.MotorTestThrottlePercent, 25, 5, 4, (float)MotorTestOrder.Board);
_mgr.Active.Transport.SendMessage(cmd);
}
