private void Drone_OnDebugDataChange(object sender, DebugDataChangedEventArgs e)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DebugDataChangedEventArgs>(Drone_OnDebugDataChange), sender, e);
return;
}
UpdateDebugData(e.DebugData);
}
private void Drone_OnDebugDataChange(object sender, DebugDataChangedEventArgs e)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DebugDataChangedEventArgs>(Drone_OnDebugDataChange), sender, e);
return;
}
if (drone.Data.State == DroneState.Flying)
{
StringBuilder pidData = new StringBuilder();
pidData.AppendFormat("Roll: {0}", Formatting.FormatDecimal(e.DebugData.RollOutput, 2, 3));
pidData.AppendLine();
pidData.AppendFormat("Pitch: {0}", Formatting.FormatDecimal(e.DebugData.PitchOutput, 2, 3));
pidData.AppendLine();
pidData.AppendFormat("Yaw: {0}", Formatting.FormatDecimal(e.DebugData.YawOutput, 2, 3));
pidDataLabel.Text = pidData.ToString();
pidDataLabel.Visible = true;
}
else
pidDataLabel.Visible = false;
}