private void StartVideoRecordingButton_Click(object sender, RoutedEventArgs e)
{
_droneClient.StartRecordingVideo();
UpdateDisplay();
StartVideoRecordingButton.Visibility = Visibility.Collapsed;
StopVideoRecordingButton.Visibility = Visibility.Visible;
VideoRecordingMessageGrid.IsOpen = true;
}
private void Video_Click(object sender, RoutedEventArgs e)
{
if (isRecording)
{
_droneClient.StopRecordingVideo();
RecordVideoButton.Content = "Rec";
}
else
{
_droneClient.StartRecordingVideo();
RecordVideoButton.Content = "Stop";
}
isRecording = !isRecording;
}
private void StartVideoRecordingButton_Click(object sender, RoutedEventArgs e)
{
_droneClient.StartRecordingVideo();
UpdateDisplay();
}
public async void Update()
{
float pitch = 0, roll = 0, yaw = 0, gaz = 0;
if (_DroneClient == null || _Controller == null)
{
return;
}
if (!_Controller.IsConnected || !_Controller.GetState(out _ControllerState))
{
_FailCounter++;
if (_FailCounter > _FailCounterMax)
{
DroneClient.InputState.Update(0, 0, 0, 0);
//Avoid overflow
_FailCounter = _FailCounterMax;
}
return;
}
if (_ControllerState.PacketNumber <= _ControllerPreviousState.PacketNumber)
{
return;
}
//Thumbs
var leftThumb = NormalizeInput(_ControllerState.Gamepad.LeftThumbX, _ControllerState.Gamepad.LeftThumbY, Convert.ToInt16(SharpDX.XInput.Gamepad.LeftThumbDeadZone * 1.1), _JoystickRange);
if (leftThumb.NormalizedMagnitude > 0)
{
roll = (float)_ControllerState.Gamepad.LeftThumbX * _RollThrottle / _JoystickRange;
pitch = (float)_ControllerState.Gamepad.LeftThumbY * _PitchThrottle / _JoystickRange;
}
var rightThumb = NormalizeInput(_ControllerState.Gamepad.RightThumbX, _ControllerState.Gamepad.RightThumbY, Convert.ToInt16(SharpDX.XInput.Gamepad.RightThumbDeadZone * 1.1), _JoystickRange);
if (rightThumb.NormalizedMagnitude > 0)
{
yaw = (float)_ControllerState.Gamepad.RightThumbX * _YawThrottle / _JoystickRange;
Debug.WriteLine(yaw);
gaz = (float)_ControllerState.Gamepad.RightThumbY * _GazThrottle / _JoystickRange;
}
_FailCounter = 0;
DroneClient.InputState.Update(roll, -pitch, yaw, gaz);
//Debug.WriteLine("InputState=" + DroneClient.InputState.ToString());
//Buttons
var buttons = _ControllerState.Gamepad.Buttons;
if (buttons.HasFlag(GamepadButtonFlags.Start))
{
if (await DroneClient.ConnectAsync())
{
if (DroneClient.NavigationData.State.HasFlag(NavigationState.Landed))
{
DroneClient.TakeOff();
}
else
{
DroneClient.Land();
}
}
}
if (buttons.HasFlag(GamepadButtonFlags.Back))
{
DroneClient.Emergency();
}
if (buttons.HasFlag(GamepadButtonFlags.Y))
{
DroneClient.ResetEmergency();
}
if (buttons.HasFlag(GamepadButtonFlags.X))
{
DroneClient.ExecuteFlatTrim();
}
if (buttons.HasFlag(GamepadButtonFlags.A))
{
DroneClient.TakePicture();
}
if (buttons.HasFlag(GamepadButtonFlags.B))
{
if (DroneClient.IsRecording())
{
DroneClient.StopRecordingVideo();
}
else
{
DroneClient.StartRecordingVideo();
}
}
if (buttons.HasFlag(GamepadButtonFlags.DPadLeft))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipLeft);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadUp))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipAhead);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadRight))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipRight);
}
if (buttons.HasFlag(GamepadButtonFlags.DPadDown))
{
DroneClient.PlayAnimation(FlightAnimationType.FlipBehind);
}
_ControllerPreviousState = _ControllerState;
}
