public IHttpActionResult setMode(string id, [FromBody] SetModeAction parameters)
{
String action = "setMode";
logger.Debug("running command {1} on /drones/{0}", id, action);
if (null == parameters)
{
return(BadRequest("Missing Required Parameters"));
}
Drone target = droneMgr.getById(new Guid(id));
if (null != target)
{
if (!target.isConnected())
{
return(BadRequest("Target system is not connected, refusing request"));
}
MAVLink.MAV_MODE mode = 0;
try
{
mode = (MAVLink.MAV_MODE)Enum.Parse(typeof(MAVLink.MAV_MODE), parameters.mode);
}
catch (Exception e)
{
return(BadRequest(e.Message));
}
CommandAck result = target.Command.setMode(mode);
if (null == result)
{
return(new CustomResponse("Null command result.", HttpStatusCode.RequestTimeout));
}
return(Ok(DTOFactory.DTOFactory.createCommandAckDTO(result)));
}
else
{
return(NotFound());
}
}
/*
* 176 MAV_CMD_DO_SET_MODE Set system mode.
* Mission Param #1 Mode, as defined by ENUM MAV_MODE
* Mission Param #2 Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
* Mission Param #3 Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
* Mission Param #4 Empty
* Mission Param #5 Empty
* Mission Param #6 Empty
* Mission Param #7 Empty
*/
public CommandAck setMode(MAVLink.MAV_MODE mode)
{
return(runCommand(MAVLink.MAV_CMD.DO_SET_MODE, (int)mode, default(Int32), default(Int32),
default(Int32), default(Int32), default(Int32), default(Int32)));
}
