private void ProcessStateTransitions(NavigationState state)
{
if (state.HasFlag(NavigationState.Bootstrap))
{
_commandQueue.Flush();
var configuration = new DroneConfiguration();
configuration.General.NavdataDemo.ChangeTo(false);
configuration.SendTo(this);
Send(new ControlCommand(ControlMode.NoControlMode));
}
if (state.HasFlag(NavigationState.Watchdog))
{
Trace.TraceWarning("Communication Watchdog!");
}
switch (_stateRequest)
{
case StateRequest.None:
return;
case StateRequest.Emergency:
if (state.HasFlag(NavigationState.Flying))
Send(new RefCommand(RefMode.Emergency));
else
_stateRequest = StateRequest.None;
break;
case StateRequest.ResetEmergency:
Send(new RefCommand(RefMode.Emergency));
_stateRequest = StateRequest.None;
break;
case StateRequest.Land:
if (state.HasFlag(NavigationState.Flying) &&
state.HasFlag(NavigationState.Landing) == false)
{
Send(new RefCommand(RefMode.Land));
}
else
_stateRequest = StateRequest.None;
break;
case StateRequest.Fly:
if (state.HasFlag(NavigationState.Landed) &&
state.HasFlag(NavigationState.Takeoff) == false &&
state.HasFlag(NavigationState.Emergency) == false)
{
Send(new RefCommand(RefMode.Takeoff));
}
else
_stateRequest = StateRequest.None;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
private void ProcessStateTransitions(NavigationState state)
{
if (state.HasFlag(NavigationState.Bootstrap))
{
_commandQueue.Flush();
var settings = new Settings();
settings.General.NavdataDemo = false;
Send(settings);
}
if (state.HasFlag(NavigationState.Watchdog))
{
Trace.TraceWarning("Communication Watchdog!");
}
switch (_stateRequest)
{
case StateRequest.None:
return;
case StateRequest.Emergency:
if (state.HasFlag(NavigationState.Flying))
Send(RefCommand.Emergency);
else
_stateRequest = StateRequest.None;
break;
case StateRequest.ResetEmergency:
Send(RefCommand.Emergency);
_stateRequest = StateRequest.None;
break;
case StateRequest.Land:
if (state.HasFlag(NavigationState.Flying) &&
state.HasFlag(NavigationState.Landing) == false)
{
Send(RefCommand.Land);
}
else
_stateRequest = StateRequest.None;
break;
case StateRequest.Fly:
if (state.HasFlag(NavigationState.Landed) &&
state.HasFlag(NavigationState.Takeoff) == false &&
state.HasFlag(NavigationState.Emergency) == false)
{
Send(RefCommand.Takeoff);
}
else
_stateRequest = StateRequest.None;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
