/// <summary>
/// 初始化飞行器。
/// </summary>
/// <param name="propeller1Pin">飞行器1号动力装置的引脚编号。</param>
/// <param name="propeller2Pin">飞行器2号动力装置的引脚编号。</param>
/// <param name="propeller3Pin">飞行器3号动力装置的引脚编号。</param>
/// <param name="propeller4Pin">飞行器4号动力装置的引脚编号。</param>
/// <param name="computingMode">飞行器控制程序的计算模式。</param>
public static void Initialize(int propeller1Pin, int propeller2Pin, int propeller3Pin, int propeller4Pin, ComputingMode computingMode)
{
_status = new MiniquadStatus(propeller1Pin, propeller2Pin, propeller3Pin, propeller4Pin);
_computingMode = computingMode;
// Initialize the algorithm
IncrementPIDFlyingControllingAlgorithm.Initialize();
}
/// <summary>
/// 获取调整后的飞行器油门输出。（根据当前的飞行器状态。）
/// </summary>
/// <returns>返回一个 int[] 数组表示四个油门的输出。</returns>
public static int[] GetAdjustedThrottleOutputs_PC()
{
if (_status == null)
{
return(null);
}
//// Static PID
//StaticPIDFlyingControllingAlgorithm.Angle_pitch = _status.YawPitchRoll.Pitch;
//StaticPIDFlyingControllingAlgorithm.Angle_roll = _status.YawPitchRoll.Roll;
//StaticPIDFlyingControllingAlgorithm.Angle_yaw = _status.YawPitchRoll.Yaw;
//StaticPIDFlyingControllingAlgorithm.Accel_z = _status.Acceleration.Z;
//return StaticPIDFlyingControllingAlgorithm.GetThrottleOutputs();
// Increment PID
IncrementPIDFlyingControllingAlgorithm.Angle_pitch = _status.YawPitchRoll.Pitch;
IncrementPIDFlyingControllingAlgorithm.Angle_roll = _status.YawPitchRoll.Roll;
IncrementPIDFlyingControllingAlgorithm.Angle_yaw = _status.YawPitchRoll.Yaw;
IncrementPIDFlyingControllingAlgorithm.Accel_z = _status.Acceleration.Z;
IncrementPIDFlyingControllingAlgorithm.Rotation_xpi = _status.Rotation.X;
IncrementPIDFlyingControllingAlgorithm.Rotation_ypi = _status.Rotation.Y;
IncrementPIDFlyingControllingAlgorithm.Rotation_zpi = _status.Rotation.Z;
return(IncrementPIDFlyingControllingAlgorithm.GetThrottleOutputs());
}
/// <summary>
/// 初始化飞行器。
/// </summary>
public static void Initialize()
{
// Initialize the algorithm
IncrementPIDFlyingControllingAlgorithm.Initialize();
}
