static object Convert(Locationwp cmd, bool isint = false)
{
if (isint)
{
var temp = new MAVLink.mavlink_mission_item_int_t()
{
command = cmd.id,
param1 = cmd.p1,
param2 = cmd.p2,
param3 = cmd.p3,
param4 = cmd.p4,
x = (int)(cmd.lat * 1.0e7),
y = (int)(cmd.lng * 1.0e7),
z = (float)cmd.alt
};
return(temp);
}
else
{
var temp = new MAVLink.mavlink_mission_item_t()
{
command = cmd.id,
param1 = cmd.p1,
param2 = cmd.p2,
param3 = cmd.p3,
param4 = cmd.p4,
x = (float)cmd.lat,
y = (float)cmd.lng,
z = (float)cmd.alt
};
return(temp);
}
}
static object Convert(Locationwp cmd, bool isint = false)
{
if (isint)
{
var temp = new MAVLink.mavlink_mission_item_int_t()
{
command = cmd.id,
param1 = cmd.p1,
param2 = cmd.p2,
param3 = cmd.p3,
param4 = cmd.p4,
x = (int)(cmd.lat * 1.0e7),
y = (int)(cmd.lng * 1.0e7),
z = (float) cmd.alt
};
return temp;
}
else
{
var temp = new MAVLink.mavlink_mission_item_t()
{
command = cmd.id,
param1 = cmd.p1,
param2 = cmd.p2,
param3 = cmd.p3,
param4 = cmd.p4,
x = (float) cmd.lat,
y = (float) cmd.lng,
z = (float) cmd.alt
};
return temp;
}
}
private void but_mission_Click(object sender, EventArgs e)
{
MAVLink.mavlink_mission_count_t req = new MAVLink.mavlink_mission_count_t();
req.target_system = 1;
req.target_component = 1;
// set wp count
req.count = 1;
byte[] packet = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.MISSION_COUNT, req);
Console.WriteLine("MISSION_COUNT send");
serialPort1.Write(packet, 0, packet.Length);
var ack = readsomedata <MAVLink.mavlink_mission_request_t>(sysid, compid);
if (ack.seq == 0)
{
MAVLink.mavlink_mission_item_int_t req2 = new MAVLink.mavlink_mission_item_int_t();
req2.target_system = sysid;
req2.target_component = compid;
req2.command = (byte)MAVLink.MAV_CMD.WAYPOINT;
req2.current = 1;
req2.autocontinue = 0;
req2.frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
req2.y = (int)(115 * 1.0e7);
req2.x = (int)(-35 * 1.0e7);
req2.z = (float)(2.34);
req2.param1 = 0;
req2.param2 = 0;
req2.param3 = 0;
req2.param4 = 0;
req2.seq = 0;
packet = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.MISSION_ITEM_INT, req2);
Console.WriteLine("MISSION_ITEM_INT send");
lock (readlock)
{
serialPort1.Write(packet, 0, packet.Length);
var ack2 = readsomedata <MAVLink.mavlink_mission_ack_t>(sysid, compid);
if ((MAVLink.MAV_MISSION_RESULT)ack2.type != MAVLink.MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED)
{
}
}
MAVLink.mavlink_mission_ack_t req3 = new MAVLink.mavlink_mission_ack_t();
req3.target_system = 1;
req3.target_component = 1;
req3.type = 0;
packet = mavlink.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.MISSION_ACK, req3);
Console.WriteLine("MISSION_ACK send");
serialPort1.Write(packet, 0, packet.Length);
}
}
