private void SaveMissionCommandExecute()
{
MissionSource.SaveMission();
}
private void MapMouseLeftButtonDownAction(MapMouseLeftButtonDownMessenger obj)
{
int DistanceDefault = 50;
if (VehicleSelected == null)
{
return;
}
if (InsertHoverPoint)
{
//Target
//var a = Utils.Utils.DegreeBearing(VehicleSelected.Latitude, VehicleSelected.Longitude, obj.Latitude,obj.Longitude);
var convertPoint = new ObservableCollection <Waypoint>();
var x = VehicleSelected.Latitude;
var y = VehicleSelected.Longitude;
//Utils.Utils.ConvertMercatorToGeo(ref y, ref x);
/*var bearing = Utils.Utils.DegreeBearing(VehicleSelected.Latitude, VehicleSelected.Longitude, obj.Latitude,obj.Longitude);
* var distance = Utils.Utils.CalculateDistance(VehicleSelected.Latitude, VehicleSelected.Longitude,
* obj.Latitude, obj.Longitude, "K") *1000;
* if (distance > DistanceDefault)
* {
* Utils.Utils.PointRadialDistance(ref x, ref y, bearing, DistanceDefault);
* }*/
convertPoint.Add(new MavlinkWaypoint
{
Latitude = x,
Longitude = y,
Altitude = DefaultAltitude,
Id = 1,
Param4 = (float)VehicleSelected.Heading,
Command = (ushort)MissionMavCmd.WAYPOINT,
});
convertPoint.Add(new MavlinkWaypoint
{
Latitude = obj.Latitude,
Longitude = obj.Longitude,
Altitude = DefaultAltitude,
Id = 2,
Command = (ushort)MissionMavCmd.WAYPOINT,
});
var task = new MavlinkTaskNav("HoverTask", TaskID)
{
NavPath = convertPoint,
TaskType = TaskTypeEnum.Hoverrer
};
MissionSource.AddTask(task);
VehicleSelected.Tasks.Clear();
VehicleSelected.Tasks.Add(task);
var newShape = new Shape(TaskID, convertPoint)
{
Symbol = (LineSymbol)Application.Current.FindResource("LineSymbol")
};
ServiceLocator.Current.GetInstance <IMap>().AddShape(newShape);
//MissionComponent.UploadTask(VehicleSelected.ID,
// VehicleSelected.HomePosition,
// new MavlinkWaypoint
// {
// Latitude = VehicleSelected.Latitude,
// Longitude = VehicleSelected.Longitude,
// Altitude = DefaultAltitude,
// Param4 = (float) VehicleSelected.Heading
// },
// VehicleSelected.Tasks[0]);
VehicleSelected.IsActivateMission = false;
MissionComponent.UploadTask(VehicleSelected.ID, VehicleSelected.HomePosition, null, VehicleSelected.Tasks[0]);
VehicleSelected.MissionID = VehicleSelected.Tasks[0].TaskID;
}
}
private void OpenMissionCommandExecute()
{
MissionSource.LoadMission();
}
