private void ReceiverOnWebSocketStateChanged(object sender, EventArgs eventArgs)
{
if (_receiver.WebsocketReady)
{
RunOnUiThread(() => _websocketTextView.SetBackgroundColor(new Color(0, 255, 0)));
}
else
{
RunOnUiThread(() => _websocketTextView.SetBackgroundColor(new Color(255, 0, 0)));
_client.Hover();
}
}
private void Joystick_InputReceived(object sender, JoystickEventArgs e)
{
if (e.Button == 0 && e.IsPressed) // Front button
{
drone.Hover();
}
else if (e.Button == 1 && e.IsPressed) // Pad-2 button
{
drone.Emergency();
}
else if (e.Button == 2 && e.IsPressed) // Pad-3 button
{
drone.Takeoff();
}
else if (e.Button == 4 && e.IsPressed) // Pad-5 button
{
drone.Land();
}
else if (e.Button == 9 && e.IsPressed) // Throttle-10 button
{
heightMaintainer.TargetHeight += 0.25f; // meter
}
else if (e.Button == 10 && e.IsPressed) // Throttle-11 button
{
heightMaintainer.TargetHeight -= 0.25f; // meter
}
}
static void Main(string[] args)
{
var droneClient = new DroneClient("192.168.1.1");
SleepAndPaint(droneClient);
droneClient.Start();
SleepAndPaint(droneClient);
droneClient.Takeoff();
SleepAndPaint(droneClient);
droneClient.Progress(FlightMode.Progressive, yaw: -0.05f);
System.Console.WriteLine("Yaw -0.05");
SleepAndPaint(droneClient);
droneClient.Hover();
SleepAndPaint(droneClient);
droneClient.Land();
SleepAndPaint(droneClient);
droneClient.Stop();
SleepAndPaint(droneClient);
System.Console.ReadLine();
droneClient.Dispose();
}
/// <summary>
/// Allows the drone to hover
/// </summary>
/// <returns>Boolean Value whether the command works properly</returns>
public bool Hover()
{
try
{
_client.Hover();
return(true);
}
catch (Exception)
{
return(false);
}
}
private void CommandReceiverOnCommandReceived(object sender, CommandEventArgs eventArgs)
{
switch (eventArgs.Command)
{
case "takeoff":
_client.Takeoff();
break;
case "land":
_client.Land();
break;
case "hover":
_client.Hover();
break;
case "up":
_client.Progress(FlightMode.Progressive, gaz: 0.25f);
break;
case "turnleft":
_client.Progress(FlightMode.Progressive, yaw: 0.25f);
break;
case "forward":
_client.Progress(FlightMode.Progressive, pitch: -0.05f);
break;
case "turnright":
_client.Progress(FlightMode.Progressive, yaw: -0.25f);
break;
case "down":
_client.Progress(FlightMode.Progressive, gaz: -0.25f);
break;
case "lLeft":
_client.Progress(FlightMode.Progressive, yaw: 0.25f);
break;
case "right":
_client.Progress(FlightMode.Progressive, roll: 0.05f);
break;
case "back":
_client.Progress(FlightMode.Progressive, pitch: 0.05f);
break;
default:
Debug.WriteLine("Unknown Command: " + eventArgs.Command);
break;
}
}
/// <summary>
/// Sends the command with its parameters to a provided DroneClient
/// </summary>
/// <param name="aDroneClient">Drone client to the the command to</param>
public void Send(DroneClient aDroneClient)
{
switch (Command)
{
case Type.Progress: aDroneClient.Progress(ProgressMode, roll: Roll, pitch: Pitch, yaw: Yaw, gaz: Gaz); break;
case Type.Takeoff: aDroneClient.Takeoff(); break;
case Type.Hover: aDroneClient.Hover(); break;
case Type.Land: aDroneClient.Land(); break;
case Type.Emergency: aDroneClient.Emergency(); break;
case Type.ResetEmergency: aDroneClient.ResetEmergency(); break;
case Type.FlatTrim: aDroneClient.FlatTrim(); break;
}
}
private void btnHover_Click(object sender, EventArgs e)
{
_droneClient.Hover();
}
public void Hover()
{
_droneClient.Hover();
}
void DroneControl(object sender)
{
int expiration = Properties.Settings.Default.AutoPilotExpiration;
bool useQ = Properties.Settings.Default.UseAutoPilot;
_autopilot.Active = useQ;
float _lrfb = Properties.Settings.Default.DefaultLRFBSpeed;
float _yaw = Properties.Settings.Default.DefaultYawSpeed;
float _gaz = Properties.Settings.Default.DefaultGazSpeed;
#region // engine
if (sender == "v")
{
_droneClient.FlatTrim();
_autopilot.ClearObjectives();
_droneClient.Takeoff();
}
;
if (sender == "n")
{
_autopilot.ClearObjectives();
_droneClient.Emergency();
}
;
if (sender == "m")
{
_droneClient.ResetEmergency();
}
;
if (sender == "b")
{
_autopilot.ClearObjectives();
_droneClient.Land();
}
;
#endregion
_autopilot.Active = true;
// navigation
#region left right up down and hover
//if (sender == btnLeft || sender == btnRight)
//{
// if (useQ)
// {
// _autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(
// (sender == btnLeft ? -_lrfb : _lrfb)
// )));
// }
// else
// {
// _droneClient.Progress(FlightMode.Progressive,
// roll: (sender == btnLeft ? -_lrfb : _lrfb)
// );
// }
//}
if (sender == "a")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: -_lrfb);
}
}
;
if (sender == "d")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetRoll(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, roll: _lrfb);
}
}
;
if (sender == "w")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(-_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: -_lrfb);
}
}
;
if (sender == "s")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetPitch(_lrfb)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, pitch: _lrfb);
}
}
;
if (sender == "x")
{
if (useQ)
{
_autopilot.EnqueueObjective(
Objective.Create(expiration,
new VelocityX(0.0f),
new VelocityY(0.0f),
new Altitude(1.0f)
));
}
else
{
_droneClient.Hover();
}
}
#endregion
#region yaw left and right
if (sender == "j")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(-_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: -_yaw);
}
}
;
if (sender == "l")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetYaw(_yaw)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, yaw: _yaw);
}
}
;
#endregion
#region gaz up and down
if (sender == "i")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: _gaz);
}
//_droneClient.Hover();
}
;
if (sender == "k")
{
if (useQ)
{
_autopilot.EnqueueObjective(Objective.Create(expiration, new SetGaz(-_gaz)));
}
else
{
_droneClient.Progress(FlightMode.Progressive, gaz: -_gaz);
}
}
;
#endregion
}
public void Hover()
{
_client.Hover();
}
private void hover()
{
droneClient.Hover();
}
