private void bw_serial_data_DoWork(object sender, DoWorkEventArgs e)
{
string[] received_serial_data;
float yaw, pitch, roll;
SerialData Data = new SerialData();
Data.OpenConn(this.COM_port.Text, 115200);
while (!bw_serial_data.CancellationPending)
{
try
{
received_serial_data = Data.receive_serial_data();
pitch = float.Parse(received_serial_data[0], CultureInfo.InvariantCulture.NumberFormat);
roll = float.Parse(received_serial_data[1], CultureInfo.InvariantCulture.NumberFormat);
yaw = float.Parse(received_serial_data[2], CultureInfo.InvariantCulture.NumberFormat);
Sensors_structure serial_data = new Sensors_structure();
serial_data.pitch = pitch;
serial_data.roll = roll;
serial_data.yaw = yaw;
bw_serial_data.ReportProgress(0, serial_data);
}
catch (Exception error)
{
//MessageBox.Show(error.ToString());
//bw_serial_data.CancelAsync();
//Data.port.Close();
}
}
Data.port.Close();
e.Result = 0;
}
private void bw_serial_data_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
Sensors_structure serial_display_data = new Sensors_structure();
serial_display_data = e.UserState as Sensors_structure;
sender_info.Text = serial_display_data.pitch.ToString() + ',' + serial_display_data.roll.ToString() + ',' + serial_display_data.yaw.ToString();
yaw_dcm.Text = serial_display_data.yaw.ToString();
pitch_dcm.Text = serial_display_data.pitch.ToString();
roll_dcm.Text = serial_display_data.roll.ToString();
//offset compensated yaw
float compensated_yaw = serial_display_data.yaw - f_yaw_offset;
graphics.userControl11.Rotate(serial_display_data.roll, serial_display_data.pitch, compensated_yaw);
chart_1.euler_angles[0] = serial_display_data.yaw;
chart_1.euler_angles[1] = serial_display_data.pitch;
chart_1.euler_angles[2] = serial_display_data.roll;
}
