public static IVehicle CreateVehicle(MavlinkClient client, IMavlinkDeviceInfo info, bool disposeClient)
{
switch (info.Autopilot)
{
case MavAutopilot.MavAutopilotArdupilotmega:
return(SelectArdupilotmega(client, info, disposeClient));
case MavAutopilot.MavAutopilotGeneric:
case MavAutopilot.MavAutopilotReserved:
case MavAutopilot.MavAutopilotSlugs:
case MavAutopilot.MavAutopilotOpenpilot:
case MavAutopilot.MavAutopilotGenericWaypointsOnly:
case MavAutopilot.MavAutopilotGenericWaypointsAndSimpleNavigationOnly:
case MavAutopilot.MavAutopilotGenericMissionFull:
case MavAutopilot.MavAutopilotInvalid:
case MavAutopilot.MavAutopilotPpz:
case MavAutopilot.MavAutopilotUdb:
case MavAutopilot.MavAutopilotFp:
case MavAutopilot.MavAutopilotPx4:
case MavAutopilot.MavAutopilotSmaccmpilot:
case MavAutopilot.MavAutopilotAutoquad:
case MavAutopilot.MavAutopilotArmazila:
case MavAutopilot.MavAutopilotAerob:
case MavAutopilot.MavAutopilotAsluav:
case MavAutopilot.MavAutopilotSmartap:
case MavAutopilot.MavAutopilotAirrails:
default:
return(null);
}
}
public static VehicleArdupilot SelectArdupilotmega(MavlinkClient client, IMavlinkDeviceInfo info, bool disposeClient)
{
switch (info.Type)
{
case MavType.MavTypeFixedWing:
return(new VehicleArdupilotPlane(client, new VehicleBaseConfig(), disposeClient));
case MavType.MavTypeQuadrotor:
case MavType.MavTypeTricopter:
case MavType.MavTypeHexarotor:
case MavType.MavTypeOctorotor:
case MavType.MavTypeHelicopter:
return(new VehicleArdupilotCopter(client, new VehicleBaseConfig()));
case MavType.MavTypeSurfaceBoat:
case MavType.MavTypeGroundRover:
case MavType.MavTypeAntennaTracker:
case MavType.MavTypeSubmarine:
default:
return(null);
}
}
public static PayloadV2Client CreateClient(int port, byte comId = 255, byte sysId = 255, byte targetCompId = 1, byte targetSysId = 1)
{
var clientPort = PortFactory.Create($"tcp://127.0.0.1:{port}");
clientPort.Enable();
var clientConnection = new MavlinkV2Connection(clientPort, _ =>
{
_.RegisterMinimalDialect();
_.RegisterCommonDialect();
_.RegisterArdupilotmegaDialect();
_.RegisterIcarousDialect();
_.RegisterUavionixDialect();
});
var mavlinkClient = new MavlinkClient(clientConnection, new MavlinkClientIdentity
{
ComponentId = 255,
SystemId = 255,
TargetComponentId = 1,
TargetSystemId = 1,
}, new MavlinkClientConfig());
return(new PayloadV2Client(mavlinkClient));
}