public Task WriteMissionItem(MavFrame frame, MavCmd cmd, bool current, bool autoContinue, float param1, float param2, float param3,
float param4, float x, float y, float z, MavMissionType missionType, int attemptCount, CancellationToken cancel)
{
var packet = new MissionItemPacket()
{
ComponenId = _identity.ComponentId,
SystemId = _identity.SystemId,
Sequence = _seq.GetNextSequenceNumber(),
Payload =
{
TargetComponent = _identity.TargetComponentId,
TargetSystem = _identity.TargetSystemId,
Seq = 0,
Frame = frame,
Command = cmd,
Current = (byte)(current ? 2:0),
Autocontinue = (byte)(autoContinue? 1:0),
Param1 = param1,
Param2 = param2,
Param3 = param3,
Param4 = param4,
X = x,
Y = y,
Z = z,
MissionType = missionType
}
};
return(_mavlink.Send(packet, cancel));
}
public Task MissionItem(MavFrame frame, MavCmd cmd, bool current, bool autoContinue, float param1, float param2, float param3,
float param4, float x, float y, float z, MavMissionType missionType, int attemptCount, CancellationToken cancel)
{
var packet = new MissionItemPacket()
{
ComponenId = _config.ComponentId,
SystemId = _config.SystemId,
Payload =
{
TargetComponent = _config.TargetComponenId,
TargetSystem = _config.TargetSystemId,
Seq = 0,
Frame = frame,
Command = cmd,
Current = 2,
Autocontinue = (byte)(autoContinue? 1:0),
Param1 = param1,
Param2 = param2,
Param3 = param3,
Param4 = param4,
X = x,
Y = y,
Z = 20,
MissionType = missionType
}
};
_mavlink.Send(packet, cancel);
return(Task.CompletedTask);
}
