public GeneralSection(DroneConfiguration configuration)
: base(configuration, "general")
{
ConfigVersion = new ReadOnlyItem <int>(this, "num_version_config");
MotherboardVersion = new ReadOnlyItem <int>(this, "num_version_mb");
SoftVersion = new ReadOnlyItem <string>(this, "num_version_soft");
DroneSerial = new ReadOnlyItem <string>(this, "drone_serial");
SoftBuildDate = new ReadOnlyItem <string>(this, "soft_build_date");
Motor1Soft = new ReadOnlyItem <string>(this, "motor1_soft");
Motor1Hard = new ReadOnlyItem <string>(this, "motor1_hard");
Motor1Supplier = new ReadOnlyItem <string>(this, "motor1_supplier");
Motor2Soft = new ReadOnlyItem <string>(this, "motor2_soft");
Motor2Hard = new ReadOnlyItem <string>(this, "motor2_hard");
Motor2Supplier = new ReadOnlyItem <string>(this, "motor2_supplier");
Motor3Soft = new ReadOnlyItem <string>(this, "motor3_soft");
Motor3Hard = new ReadOnlyItem <string>(this, "motor3_hard");
Motor3Supplier = new ReadOnlyItem <string>(this, "motor3_supplier");
Motor4Soft = new ReadOnlyItem <string>(this, "motor4_soft");
Motor4Hard = new ReadOnlyItem <string>(this, "motor4_hard");
Motor4Supplier = new ReadOnlyItem <string>(this, "motor4_supplier");
ARDroneName = new ActiveItem <string>(this, "ardrone_name");
FlyingTime = new ReadOnlyItem <int>(this, "flying_time");
NavdataDemo = new ActiveItem <bool>(this, "navdata_demo");
NavdataOptions = new ActiveItem <int>(this, "navdata_options");
ComWatchdog = new ActiveItem <int>(this, "com_watchdog");
Video = new ActiveItem <bool>(this, "video_enable");
Vision = new ActiveItem <bool>(this, "vision_enable");
BatteryVoltageMin = new ActiveItem <int>(this, "vbat_min");
LocalTime = new ActiveItem <int>(this, "localtime");
}
public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
else
{
Trace.TraceWarning("Configuration key {0} update failed. Original line: {1}", key, line);
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return updated;
}
public PicSection(DroneConfiguration configuration)
: base(configuration, "pic")
{
UltrasoundFreq = new ActiveItem <int>(this, "ultrasound_freq");
UltrasoundWatchdog = new ActiveItem <int>(this, "ultrasound_watchdog");
Version = new ReadOnlyItem <int>(this, "pic_version");
}
public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return(updated);
}
public SyslogSection(DroneConfiguration configuration)
: base(configuration, "syslog")
{
Output = new ActiveItem <int>(this, "output");
MaxSize = new ActiveItem <int>(this, "max_size");
NbFiles = new ActiveItem <int>(this, "nb_files");
}
public GpsSection(DroneConfiguration configuration)
: base(configuration, "gps")
{
Latitude = new ReadOnlyItem <double>(this, "latitude");
Longitude = new ReadOnlyItem <double>(this, "longitude");
Altitude = new ReadOnlyItem <double>(this, "altitude");
}
private void OnConfigurationUpdated(DroneConfiguration configuration)
{
if (configuration.Video.Codec != VideoCodecType.H264_360P ||
configuration.Video.BitrateCtrlMode != VideoBitrateControlMode.Dynamic)
{
_droneClient.Send(configuration.Video.Codec.Set(VideoCodecType.H264_360P).ToCommand());
_droneClient.Send(configuration.Video.BitrateCtrlMode.Set(VideoBitrateControlMode.Dynamic).ToCommand());
}
}
public NetworkSection(DroneConfiguration configuration)
: base(configuration, "network")
{
SsidSinglePlayer = new ActiveItem <string>(this, "ssid_single_player");
SsidMultiPlayer = new ActiveItem <string>(this, "ssid_multi_player");
WifiMode = new ActiveItem <int>(this, "wifi_mode");
WifiRate = new ActiveItem <int>(this, "wifi_rate");
OwnerMac = new ActiveItem <string>(this, "owner_mac");
}
public CustomSection(DroneConfiguration configuration)
: base(configuration, "custom")
{
ApplicationId = new ReadOnlyItem <string>(this, "application_id");
ApplicationDescription = new ReadOnlyItem <string>(this, "application_desc");
ProfileId = new ReadOnlyItem <string>(this, "profile_id");
ProfileDescription = new ReadOnlyItem <string>(this, "profile_desc");
SessionId = new ReadOnlyItem <string>(this, "session_id");
SessionDescription = new ReadOnlyItem <string>(this, "session_desc");
}
public DetectSection(DroneConfiguration configuration)
: base(configuration, "detect")
{
EnemyColors = new ActiveItem <int>(this, "enemy_colors");
GroundstripeColors = new ActiveItem <int>(this, "groundstripe_colors");
EnemyWithoutShell = new ActiveItem <int>(this, "enemy_without_shell");
DetectType = new ActiveItem <int>(this, "detect_type");
DetectionsSelectH = new ActiveItem <int>(this, "detections_select_h");
DetectionsSelectVHsync = new ActiveItem <int>(this, "detections_select_v_hsync");
DetectionsSelectV = new ActiveItem <int>(this, "detections_select_v");
}
public DroneClient()
{
_configuration = new DroneConfiguration();
_commandQueue = new ConcurrentQueue<ATCommand>();
_commandSender = new CommandSender(_configuration, _commandQueue);
_navdataAcquisition = new NavdataAcquisition(_configuration, OnNavdataPacketAcquired, OnNavdataAcquisitionStopped);
_videoAcquisition = new VideoAcquisition(_configuration, OnVideoPacketAcquired);
_configurationAcquisition = new ConfigurationAcquisition(_configuration, OnConfigurationPacketAcquired);
_watchdog = new Watchdog(_navdataAcquisition, _commandSender, _videoAcquisition);
}
public DroneClient()
{
_configuration = new DroneConfiguration();
_commandQueue = new ConcurrentQueue<ATCommand>();
_networkWorker = new NetworkWorker(_configuration, OnConnectionChanged);
_commandQueueWorker = new CommandQueueWorker(_configuration, _commandQueue);
_navdataAcquisitionWorker = new NavdataAcquisitionWorker(_configuration, OnNavigationPacketAcquired);
_videoAcquisitionWorker = new VideoAcquisitionWorker(_configuration, OnVideoPacketAcquired);
_configurationAcquisitionWorker = new ConfigurationAcquisitionWorker(_configuration, OnConfigurationPacketAcquired);
_watchdogWorker = new WatchdogWorker(_networkWorker, _navdataAcquisitionWorker, _commandQueueWorker, _videoAcquisitionWorker);
}
public DroneConfiguration GetConfiguration(CancellationToken token)
{
using (var tcpClient = new TcpClient(_client.NetworkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
try
{
_client.NavigationDataAcquired += OnNavigationData;
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
token.ThrowIfCancellationRequested();
int offset = 0;
if (tcpClient.Available == 0)
{
Thread.Sleep(10);
}
else
{
offset += stream.Read(buffer, offset, buffer.Length);
swConfigTimeout.Restart();
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
var data = new byte[offset];
Array.Copy(buffer, data, offset);
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = data
};
var configuration = new DroneConfiguration();
if (ConfigurationPacketParser.TryUpdate(configuration, packet))
{
return(configuration);
}
throw new InvalidDataException();
}
}
}
throw new TimeoutException();
}
finally
{
_client.NavigationDataAcquired -= OnNavigationData;
}
}
public DroneConfiguration GetConfiguration(CancellationToken token)
{
using (var tcpClient = new TcpClient(_client.NetworkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
try
{
_client.NavigationDataAcquired += OnNavigationData;
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
token.ThrowIfCancellationRequested();
int offset = 0;
if (tcpClient.Available == 0)
{
Thread.Sleep(10);
}
else
{
offset += stream.Read(buffer, offset, buffer.Length);
swConfigTimeout.Restart();
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
var data = new byte[offset];
Array.Copy(buffer, data, offset);
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = data
};
var configuration = new DroneConfiguration();
if (ConfigurationPacketParser.TryUpdate(configuration, packet))
{
return configuration;
}
throw new InvalidDataException();
}
}
}
throw new TimeoutException();
}
finally
{
_client.NavigationDataAcquired -= OnNavigationData;
}
}
public VideoSection(DroneConfiguration configuration)
: base(configuration, "video")
{
CamifFps = new ReadOnlyItem <int>(this, "camif_fps");
CodecFps = new ActiveItem <int>(this, "codec_fps");
CamifBuffers = new ReadOnlyItem <int>(this, "camif_buffers");
Trackers = new ReadOnlyItem <int>(this, "num_trackers");
Codec = new ActiveItem <VideoCodecType>(this, "video_codec");
Slices = new ActiveItem <int>(this, "video_slices");
LiveSocket = new ActiveItem <int>(this, "video_live_socket");
StorageSpace = new ReadOnlyItem <int>(this, "video_storage_space");
Bitrate = new ActiveItem <int>(this, "bitrate");
MaxBitrate = new ActiveItem <int>(this, "max_bitrate");
BitrateCtrlMode = new ActiveItem <VideoBitrateControlMode>(this, "bitrate_ctrl_mode");
BitrateStorage = new ActiveItem <int>(this, "bitrate_storage");
Channel = new ActiveItem <VideoChannelType>(this, "video_channel");
OnUsb = new ActiveItem <bool>(this, "video_on_usb");
FileIndex = new ActiveItem <int>(this, "video_file_index");
}
public ControlSection(DroneConfiguration configuration)
: base(configuration, "control")
{
accs_offset = new ReadOnlyItem <string>(this, "accs_offset");
accs_gains = new ReadOnlyItem <string>(this, "accs_gains");
gyros_offset = new ReadOnlyItem <string>(this, "gyros_offset");
gyros_gains = new ReadOnlyItem <string>(this, "gyros_gains");
gyros110_offset = new ReadOnlyItem <string>(this, "gyros110_offset");
gyros110_gains = new ReadOnlyItem <string>(this, "gyros110_gains");
magneto_offset = new ReadOnlyItem <string>(this, "magneto_offset");
magneto_radius = new ReadOnlyItem <float>(this, "magneto_radius");
gyro_offset_thr_x = new ReadOnlyItem <float>(this, "gyro_offset_thr_x");
gyro_offset_thr_y = new ReadOnlyItem <float>(this, "gyro_offset_thr_y");
gyro_offset_thr_z = new ReadOnlyItem <float>(this, "gyro_offset_thr_z");
pwm_ref_gyros = new ReadOnlyItem <int>(this, "pwm_ref_gyros");
osctun_value = new ReadOnlyItem <int>(this, "osctun_value");
osctun_test = new ReadOnlyItem <bool>(this, "osctun_test");
control_level = new ActiveItem <int>(this, "control_level");
euler_angle_max = new ActiveItem <float>(this, "euler_angle_max");
altitude_max = new ActiveItem <int>(this, "altitude_max");
altitude_min = new ActiveItem <int>(this, "altitude_min");
control_iphone_tilt = new ActiveItem <float>(this, "control_iphone_tilt");
control_vz_max = new ActiveItem <float>(this, "control_vz_max");
control_yaw = new ActiveItem <float>(this, "control_yaw");
outdoor = new ActiveItem <bool>(this, "outdoor");
flight_without_shell = new ActiveItem <bool>(this, "flight_without_shell");
autonomous_flight = new ReadOnlyItem <bool>(this, "autonomous_flight"); // obsolete
manual_trim = new ActiveItem <bool>(this, "manual_trim");
indoor_euler_angle_max = new ActiveItem <float>(this, "indoor_euler_angle_max");
indoor_control_vz_max = new ActiveItem <float>(this, "indoor_control_vz_max");
indoor_control_yaw = new ActiveItem <float>(this, "indoor_control_yaw");
outdoor_euler_angle_max = new ActiveItem <float>(this, "outdoor_euler_angle_max");
outdoor_control_vz_max = new ActiveItem <float>(this, "outdoor_control_vz_max");
outdoor_control_yaw = new ActiveItem <float>(this, "outdoor_control_yaw");
flying_mode = new ActiveItem <int>(this, "flying_mode");
hovering_range = new ActiveItem <int>(this, "hovering_range");
flight_anim = new FlightAnimationItem(this, "flight_anim");
}
public PicSection(DroneConfiguration configuration)
: base(configuration, "pic")
{
UltrasoundFreq = new ActiveItem<int>(this, "ultrasound_freq");
UltrasoundWatchdog = new ActiveItem<int>(this, "ultrasound_watchdog");
Version = new ReadOnlyItem<int>(this, "pic_version");
}
public UserboxSection(DroneConfiguration configuration)
: base(configuration, "userbox")
{
UserboxCmd = new ActiveItem <string>(this, "userbox_cmd");
}
public GpsSection(DroneConfiguration configuration)
: base(configuration, "gps")
{
Latitude = new ReadOnlyItem<double>(this, "latitude");
Longitude = new ReadOnlyItem<double>(this, "longitude");
Altitude = new ReadOnlyItem<double>(this, "altitude");
}
public UserboxSection(DroneConfiguration configuration)
: base(configuration, "userbox")
{
UserboxCmd = new ActiveItem<string>(this, "userbox_cmd");
}
public LedsSection(DroneConfiguration configuration)
: base(configuration, "leds")
{
Animation = new ActiveItem <string>(this, "leds_anim");
}
public LedsSection(DroneConfiguration configuration)
: base(configuration, "leds")
{
Animation = new ActiveItem<string>(this, "leds_anim");
}
public VideoSection(DroneConfiguration configuration)
: base(configuration, "video")
{
CamifFps = new ReadOnlyItem<int>(this, "camif_fps");
CodecFps = new ActiveItem<int>(this, "codec_fps");
CamifBuffers = new ReadOnlyItem<int>(this, "camif_buffers");
Trackers = new ReadOnlyItem<int>(this, "num_trackers");
Codec = new ActiveItem<VideoCodecType>(this, "video_codec");
Slices = new ActiveItem<int>(this, "video_slices");
LiveSocket = new ActiveItem<int>(this, "video_live_socket");
StorageSpace = new ReadOnlyItem<int>(this, "video_storage_space");
Bitrate = new ActiveItem<int>(this, "bitrate");
MaxBitrate = new ActiveItem<int>(this, "max_bitrate");
BitrateCtrlMode = new ActiveItem<VideoBitrateControlMode>(this, "bitrate_ctrl_mode");
BitrateStorage = new ActiveItem<int>(this, "bitrate_storage");
Channel = new ActiveItem<VideoChannelType>(this, "video_channel");
OnUsb = new ActiveItem<bool>(this, "video_on_usb");
FileIndex = new ActiveItem<int>(this, "video_file_index");
}
public SyslogSection(DroneConfiguration configuration)
: base(configuration, "syslog")
{
Output = new ActiveItem<int>(this, "output");
MaxSize = new ActiveItem<int>(this, "max_size");
NbFiles = new ActiveItem<int>(this, "nb_files");
}
public GeneralSection(DroneConfiguration configuration)
: base(configuration, "general")
{
ConfigVersion = new ReadOnlyItem<int>(this, "num_version_config");
MotherboardVersion = new ReadOnlyItem<int>(this, "num_version_mb");
SoftVersion = new ReadOnlyItem<string>(this, "num_version_soft");
DroneSerial = new ReadOnlyItem<string>(this, "drone_serial");
SoftBuildDate = new ReadOnlyItem<string>(this, "soft_build_date");
Motor1Soft = new ReadOnlyItem<string>(this, "motor1_soft");
Motor1Hard = new ReadOnlyItem<string>(this, "motor1_hard");
Motor1Supplier = new ReadOnlyItem<string>(this, "motor1_supplier");
Motor2Soft = new ReadOnlyItem<string>(this, "motor2_soft");
Motor2Hard = new ReadOnlyItem<string>(this, "motor2_hard");
Motor2Supplier = new ReadOnlyItem<string>(this, "motor2_supplier");
Motor3Soft = new ReadOnlyItem<string>(this, "motor3_soft");
Motor3Hard = new ReadOnlyItem<string>(this, "motor3_hard");
Motor3Supplier = new ReadOnlyItem<string>(this, "motor3_supplier");
Motor4Soft = new ReadOnlyItem<string>(this, "motor4_soft");
Motor4Hard = new ReadOnlyItem<string>(this, "motor4_hard");
Motor4Supplier = new ReadOnlyItem<string>(this, "motor4_supplier");
ARDroneName = new ActiveItem<string>(this, "ardrone_name");
FlyingTime = new ReadOnlyItem<int>(this, "flying_time");
NavdataDemo = new ActiveItem<bool>(this, "navdata_demo");
NavdataOptions = new ActiveItem<int>(this, "navdata_options");
ComWatchdog = new ActiveItem<int>(this, "com_watchdog");
Video = new ActiveItem<bool>(this, "video_enable");
Vision = new ActiveItem<bool>(this, "vision_enable");
BatteryVoltageMin = new ActiveItem<int>(this, "vbat_min");
LocalTime = new ActiveItem<int>(this, "localtime");
}
public NetworkSection(DroneConfiguration configuration)
: base(configuration, "network")
{
SsidSinglePlayer = new ActiveItem<string>(this, "ssid_single_player");
SsidMultiPlayer = new ActiveItem<string>(this, "ssid_multi_player");
WifiMode = new ActiveItem<int>(this, "wifi_mode");
WifiRate = new ActiveItem<int>(this, "wifi_rate");
OwnerMac = new ActiveItem<string>(this, "owner_mac");
}
public CustomSection(DroneConfiguration configuration)
: base(configuration, "custom")
{
ApplicationId = new ReadOnlyItem<string>(this, "application_id");
ApplicationDescription = new ReadOnlyItem<string>(this, "application_desc");
ProfileId = new ReadOnlyItem<string>(this, "profile_id");
ProfileDescription = new ReadOnlyItem<string>(this, "profile_desc");
SessionId = new ReadOnlyItem<string>(this, "session_id");
SessionDescription = new ReadOnlyItem<string>(this, "session_desc");
}
public DetectSection(DroneConfiguration configuration)
: base(configuration, "detect")
{
EnemyColors = new ActiveItem<int>(this, "enemy_colors");
GroundstripeColors = new ActiveItem<int>(this, "groundstripe_colors");
EnemyWithoutShell = new ActiveItem<int>(this, "enemy_without_shell");
DetectType = new ActiveItem<int>(this, "detect_type");
DetectionsSelectH = new ActiveItem<int>(this, "detections_select_h");
DetectionsSelectVHsync = new ActiveItem<int>(this, "detections_select_v_hsync");
DetectionsSelectV = new ActiveItem<int>(this, "detections_select_v");
}
private void ProcessStateTransitions(NavigationState state)
{
if (state.HasFlag(NavigationState.Bootstrap))
{
_commandQueue.Flush();
var configuration = new DroneConfiguration();
configuration.General.NavdataDemo.ChangeTo(false);
configuration.SendTo(this);
Send(new ControlCommand(ControlMode.NoControlMode));
}
if (state.HasFlag(NavigationState.Watchdog))
{
Trace.TraceWarning("Communication Watchdog!");
}
switch (_stateRequest)
{
case StateRequest.None:
return;
case StateRequest.Emergency:
if (state.HasFlag(NavigationState.Flying))
Send(new RefCommand(RefMode.Emergency));
else
_stateRequest = StateRequest.None;
break;
case StateRequest.ResetEmergency:
Send(new RefCommand(RefMode.Emergency));
_stateRequest = StateRequest.None;
break;
case StateRequest.Land:
if (state.HasFlag(NavigationState.Flying) &&
state.HasFlag(NavigationState.Landing) == false)
{
Send(new RefCommand(RefMode.Land));
}
else
_stateRequest = StateRequest.None;
break;
case StateRequest.Fly:
if (state.HasFlag(NavigationState.Landed) &&
state.HasFlag(NavigationState.Takeoff) == false &&
state.HasFlag(NavigationState.Emergency) == false)
{
Send(new RefCommand(RefMode.Takeoff));
}
else
_stateRequest = StateRequest.None;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
public ControlSection(DroneConfiguration configuration)
: base(configuration, "control")
{
accs_offset = new ReadOnlyItem<string>(this, "accs_offset");
accs_gains = new ReadOnlyItem<string>(this, "accs_gains");
gyros_offset = new ReadOnlyItem<string>(this, "gyros_offset");
gyros_gains = new ReadOnlyItem<string>(this, "gyros_gains");
gyros110_offset = new ReadOnlyItem<string>(this, "gyros110_offset");
gyros110_gains = new ReadOnlyItem<string>(this, "gyros110_gains");
magneto_offset = new ReadOnlyItem<string>(this, "magneto_offset");
magneto_radius = new ReadOnlyItem<float>(this, "magneto_radius");
gyro_offset_thr_x = new ReadOnlyItem<float>(this, "gyro_offset_thr_x");
gyro_offset_thr_y = new ReadOnlyItem<float>(this, "gyro_offset_thr_y");
gyro_offset_thr_z = new ReadOnlyItem<float>(this, "gyro_offset_thr_z");
pwm_ref_gyros = new ReadOnlyItem<int>(this, "pwm_ref_gyros");
osctun_value = new ReadOnlyItem<int>(this, "osctun_value");
osctun_test = new ReadOnlyItem<bool>(this, "osctun_test");
control_level = new ActiveItem<int>(this, "control_level");
euler_angle_max = new ActiveItem<float>(this, "euler_angle_max");
altitude_max = new ActiveItem<int>(this, "altitude_max");
altitude_min = new ActiveItem<int>(this, "altitude_min");
control_iphone_tilt = new ActiveItem<float>(this, "control_iphone_tilt");
control_vz_max = new ActiveItem<float>(this, "control_vz_max");
control_yaw = new ActiveItem<float>(this, "control_yaw");
outdoor = new ActiveItem<bool>(this, "outdoor");
flight_without_shell = new ActiveItem<bool>(this, "flight_without_shell");
autonomous_flight = new ReadOnlyItem<bool>(this, "autonomous_flight"); // obsolete
manual_trim = new ActiveItem<bool>(this, "manual_trim");
indoor_euler_angle_max = new ActiveItem<float>(this, "indoor_euler_angle_max");
indoor_control_vz_max = new ActiveItem<float>(this, "indoor_control_vz_max");
indoor_control_yaw = new ActiveItem<float>(this, "indoor_control_yaw");
outdoor_euler_angle_max = new ActiveItem<float>(this, "outdoor_euler_angle_max");
outdoor_control_vz_max = new ActiveItem<float>(this, "outdoor_control_vz_max");
outdoor_control_yaw = new ActiveItem<float>(this, "outdoor_control_yaw");
flying_mode = new ActiveItem<int>(this, "flying_mode");
hovering_range = new ActiveItem<int>(this, "hovering_range");
flight_anim = new FlightAnimationItem(this, "flight_anim");
}