/*
* Use this function to tell the copter what data you want to see and how often
*/
private void RequestMav()
{
Msg_request_data_stream ds = new Msg_request_data_stream();
ds.req_message_rate = 2;
ds.req_stream_id = (byte)MAV_DATA_STREAM.MAV_DATA_STREAM_ALL;
ds.start_stop = 1;
ds.target_component = (byte)MAV_COMPONENT.MAV_COMP_ID_ALL;
ds.target_system = (byte)Systemid;
SendPacket(ds);
}
// Use this for initialization
void Start()
{
SystemId = (byte)MAV_MODE.MAV_MODE_MANUAL_ARMED;
ComponentId = (byte)MAV_COMPONENT.MAV_COMP_ID_AUTOPILOT1;
Application.runInBackground = true;
mlpn = new Msg_local_position_ned();
mgpi = new Msg_global_position_int();
Mheratbeat = new Msg_heartbeat();
Msts = new Msg_sys_status();
Matt = new Msg_attitude();
Mdatastream = new Msg_request_data_stream();
Mgpsr = new Msg_gps_raw_int();
Mattq = new Msg_attitude_quaternion();
Mvhud = new Msg_vfr_hud();
MattTar = new Msg_attitude_target();
MHome = new Msg_home_position();
setMHome = new Msg_set_home_position();
setMode = new Msg_set_mode();
EstimatorStatus = new Msg_estimator_status();
Mvirbration = new Msg_vibration();
ExtendState = new Msg_extended_sys_state();
latlonalt = new LatLonAlt();
Malt = new Msg_altitude();
positionL = new Msg_position_target_local_ned();
setPositionL = new Msg_set_position_target_local_ned();
setPositionG = new Msg_set_position_target_global_int();
PositionG = new Msg_position_target_global_int();
MhiIMU = new Msg_highres_imu();
BatteryStatus = new Msg_battery_status();
player = GameObject.FindGameObjectWithTag("Player");
DM = player.GetComponent <DroneMove> ();
InitSocket();
setHomePosition();
setPositionTargetLocal();
setPositionTargetGlobal();
}
