public void mapFlightMode(FlightMode flightMode, FlightAttitude flightAttitude, ReferenceFrame frame)
{
computerMode = ComputerMode.Off;
computerAttitude = flightAttitude;
switch (flightMode)
{
case FlightMode.Off: { computerMode = ComputerMode.Off; break; }
case FlightMode.KillRot: { computerMode = ComputerMode.Kill; break; }
case FlightMode.AttitudeHold:
{
computerMode = ComputerMode.Custom;
switch (frame)
{
case ReferenceFrame.Maneuver: { computerMode = ComputerMode.Node; break; }
case ReferenceFrame.Orbit: { computerMode = ComputerMode.Orbital; break; }
case ReferenceFrame.Surface: { computerMode = ComputerMode.Surface; break; }
case ReferenceFrame.TargetParallel: { computerMode = ComputerMode.TargetPos; break; }
case ReferenceFrame.TargetVelocity: { computerMode = ComputerMode.TargetVel; break; }
}
break;
}
}
}
// Update is called once per frame
void FixedUpdate()
{
Vector2 correctionForce;
if (flightMode == FlightMode.Circle)
{
correctionForce = RelativePitchToTarget(target.transform.position, 37f);
}
else if (flightMode == FlightMode.DiveBomb)
{
correctionForce = RelativePitchToTarget(target.transform.position, 0f);
if (correctionForce == Vector2.zero)
{
flightMode = FlightMode.Fixated;
}
}
else
{
correctionForce = Vector2.zero;
print("doing nothing...");
}
rb.AddForce(correctionForce);
// Cap speed
rb.velocity = rb.velocity.normalized * speed;
// Set direction
//transform.LookAt(getPosition() + rb.velocity * 0.1f);
}
protected void OnProgress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
if (Emergency != null)
{
Progress(mode, roll, pitch, yaw, gaz);
}
}
public override bool Execute(FlightComputer f, FlightCtrlState fcs)
{
if (mAbort)
{
Mode = FlightMode.Off;
mAbort = false;
}
switch (Mode)
{
case FlightMode.Off:
break;
case FlightMode.KillRot:
FlightCore.HoldOrientation(fcs, f, Orientation * Quaternion.AngleAxis(90, Vector3.left));
break;
case FlightMode.AttitudeHold:
FlightCore.HoldAttitude(fcs, f, Frame, Attitude, Orientation);
break;
case FlightMode.AltitudeHold:
break;
}
return(false);
}
void FixedUpdate()
{
if (transitioning)
{
dive_timer += current_mode == FlightMode.HIGH ? Time.deltaTime : -Time.deltaTime;
float curve_step = high_altitude * dive_curve.Evaluate(dive_timer / dive_duration);
rigid_body.MovePosition(new Vector3(transform.position.x, curve_step, transform.position.z) + (transform.forward * move_speed * Time.deltaTime));
if ((current_mode == FlightMode.HIGH && dive_timer >= dive_duration) ||
(current_mode == FlightMode.LOW && dive_timer <= 0))
{
current_mode = target_mode;
}
}
else
{
rigid_body.MovePosition(transform.position + (transform.forward * move_speed * Time.deltaTime));
}
if (!transitioning)
{
float trigger_axis = Input.GetAxis("Controller 1 - Trigger");
float modifier = 1 + (trigger_axis * 0.75f);
transform.Rotate(Vector3.up, horizontal * turn_speed * modifier * Time.deltaTime);
}
}
/// <summary>
/// This command controls the drone flight motions.
/// </summary>
/// <param name="mode">Enabling the use of progressive commands and/or the Combined Yaw mode (bitfield).</param>
/// <param name="roll">Drone left-right tilt - value in range [−1..1].</param>
/// <param name="pitch">Drone front-back tilt - value in range [−1..1].</param>
/// <param name="yaw">Drone angular speed - value in range [−1..1].</param>
/// <param name="gaz">Drone vertical speed - value in range [−1..1].</param>
/// <param name="psi">Magneto psi - value in range [−1..1]</param>
/// <param name="accuracy">Magneto psi accuracy - value in range [−1..1].</param>
public void ProgressWithMagneto(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0, float psi = 0, float accuracy = 0)
{
if (roll > 1 || roll < -1)
{
throw new ArgumentOutOfRangeException("roll");
}
if (pitch > 1 || pitch < -1)
{
throw new ArgumentOutOfRangeException("pitch");
}
if (yaw > 1 || yaw < -1)
{
throw new ArgumentOutOfRangeException("yaw");
}
if (gaz > 1 || gaz < -1)
{
throw new ArgumentOutOfRangeException("gaz");
}
if (psi > 1 || psi < -1)
{
throw new ArgumentOutOfRangeException("psi");
}
if (accuracy > 1 || accuracy < -1)
{
throw new ArgumentOutOfRangeException("accuracy");
}
if (_navigationData.State.HasFlag(NavigationState.Flying))
{
Send(new ProgressWithMagnetoCommand(mode, roll, pitch, yaw, gaz, psi, accuracy));
}
}
public ProgressCommand(FlightMode mode, float roll, float pitch, float yaw, float gaz)
{
_mode = mode;
_roll = roll;
_pitch = pitch;
_yaw = yaw;
_gaz = gaz;
}
public ProgressCommand(FlightMode mode, float roll, float pitch, float yaw, float gaz)
{
_mode = mode;
_roll = roll;
_pitch = pitch;
_yaw = yaw;
_gaz = gaz;
}
public ProgressWithMagnetoCommand(FlightMode mode, float roll, float pitch, float yaw, float gaz, float psi, float accuracy)
{
_mode = mode;
_roll = roll;
_pitch = pitch;
_yaw = yaw;
_gaz = gaz;
_psi = psi;
_accuracy = accuracy;
}
public ProgressWithMagnetoCommand(FlightMode mode, float roll, float pitch, float yaw, float gaz, float psi, float accuracy)
{
_mode = mode;
_roll = roll;
_pitch = pitch;
_yaw = yaw;
_gaz = gaz;
_psi = psi;
_accuracy = accuracy;
}
void ChanceChangeToDiveBomb()
{
if (flightMode != FlightMode.Circle)
{
return;
}
if (Random.Range(0.0f, 1.0f) < chanceDiveBomb)
{
flightMode = FlightMode.DiveBomb;
}
}
// Start is called before the first frame update
void Start()
{
rb = GetComponent <Rigidbody2D>();
direction = new Vector2(Random.Range(-1.0f, 1.0f), Random.Range(-1.0f, 1.0f)).normalized;
rb.AddForce(direction * speed);
flightMode = FlightMode.Circle;
target = FindClosestEnemy();
InvokeRepeating(nameof(ChanceChangeToDiveBomb), 5.0f, 1f);
InvokeRepeating(nameof(ChangeTarget), 0.0f, 5.0f);
}
bool CompilePath(string [] points, FlightMode mode, out Queue <PathKey> currentPaths)
{
currentPaths = new Queue <PathKey>();
if (points.Length < 3)
{
return(false);
}
for (int i = 2; i < points.Length; i++)
{
PathKey p = new PathKey(points [i - 1], points [i]);
if (ContainsKey(ref p))
{
currentPaths.Enqueue(p);
}
else
{
return(false);
}
}
if (mode == FlightMode.Circle)
{
PathKey p = new PathKey(points [points.Length - 1], points [1]);
if (ContainsKey(ref p))
{
currentPaths.Enqueue(p);
}
else
{
return(false);
}
}
if (mode == FlightMode.Patrol)
{
for (int i = points.Length - 1; i >= 1; i++)
{
PathKey p = new PathKey(points [i], points [i - 1]);
if (ContainsKey(ref p))
{
currentPaths.Enqueue(p);
}
else
{
return(false);
}
}
}
return(true);
}
public FlightSystem()
{
_frontOrientationStyle = FrontOrientationStyle.T;
_flightMode = FlightMode.Hover;
_radio.Id = "OC1";
_radio.PartnerId = "OM1";
_radio.SendFrequency = 100;
MotorScale = 100;
const Period periodLength = Period.P50Hz;
RegisterPropeller(new BrushlessMotor((PWM.Pin) FEZ_Pin.PWM.Di6, periodLength)); // 3:00 position
RegisterPropeller(new BrushlessMotor((PWM.Pin) FEZ_Pin.PWM.Di5, periodLength)); // 12:00 (green)
RegisterPropeller(new BrushlessMotor((PWM.Pin) FEZ_Pin.PWM.Di9, periodLength)); // 9:00 position
RegisterPropeller(new BrushlessMotor((PWM.Pin) FEZ_Pin.PWM.Di8, periodLength)); // 6:00 position
}
public void SwitchFlightMode(FlightMode currentFlightMode, FlightMode newFlightMode)
{
if (currentFlightMode != newFlightMode)
{
switch (currentFlightMode)
{
case FlightMode.Feather:
FeatherActivatedImage.enabled = false;
break;
case FlightMode.Normal:
StarshipActivatedImage.enabled = false;
break;
case FlightMode.Chain:
ChainActivatedImage.enabled = false;
break;
case FlightMode.Sword:
OnMouseOverEnd?.Invoke();
SwordActivatedImage.enabled = false;
break;
}
switch (newFlightMode)
{
case FlightMode.Feather:
FeatherActivatedImage.enabled = true;
break;
case FlightMode.Normal:
StarshipActivatedImage.enabled = true;
break;
case FlightMode.Chain:
ChainActivatedImage.enabled = true;
break;
case FlightMode.Sword:
SwordActivatedImage.enabled = true;
break;
}
flightModeSwitcher.SwitchFlightMode(newFlightMode);
}
}
/// <summary>
/// Highlight the directional arrows on the GUI to display where the drone moves
/// </summary>
void inputManager_Progress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
labelAngles.Text = string.Format("Roll: {0:0.00}\nPitch: {1:0.00}\nYaw: {2:0.00}\nGaz: {3:0.00}\n", roll, pitch, yaw, gaz);
if (mode == FlightMode.Hover)
{
inputManager_Hover();
return;
}
labelRotateLeft.ForeColor = yaw < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelRotateRight.ForeColor = yaw > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelForward.ForeColor = pitch < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelBackward.ForeColor = pitch > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelLeft.ForeColor = roll < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelRight.ForeColor = roll > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelUp.ForeColor = gaz > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelDown.ForeColor = gaz < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
}
void SetFlightMode(FlightMode _mode, bool _sound = true)
{
switch (_mode)
{
case FlightMode.HIGH:
{
dive_timer = dive_duration;
GameManager.scene.pigeon_cam.SetFollowSpeed(high_flight_camera_speed);
GameManager.scene.pigeon_cam.SetFOV(high_flight_fov);
GameManager.scene.pigeon_cam.follow_offset = Vector3.zero;
if (_sound)
{
AudioManager.PlayOneShot("SwooshUP");
}
target_mode = FlightMode.HIGH;
AudioManager.SetAmbience(AmbienceType.ABOVE);
} break;
case FlightMode.LOW:
{
dive_timer = 0;
GameManager.scene.pigeon_cam.SetFollowSpeed(low_flight_camera_speed);
GameManager.scene.pigeon_cam.SetFOV(low_flight_fov);
GameManager.scene.pigeon_cam.follow_offset = new Vector3(0, -10, 0);
if (_sound)
{
AudioManager.PlayOneShot("SwooshDOWN");
}
target_mode = FlightMode.LOW;
AudioManager.SetAmbience(AmbienceType.BELOW);
} break;
default: {} break;
}
}
/// <summary>
/// This command controls the drone flight motions.
/// </summary>
/// <param name="mode">Enabling the use of progressive commands and/or the Combined Yaw mode (bitfield).</param>
/// <param name="roll">Drone left-right tilt - value in range [−1..1].</param>
/// <param name="pitch">Drone front-back tilt - value in range [−1..1].</param>
/// <param name="yaw">Drone angular speed - value in range [−1..1].</param>
/// <param name="gaz">Drone vertical speed - value in range [−1..1].</param>
public void Progress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
if (roll > 1 || roll < -1)
{
throw new ArgumentOutOfRangeException("roll");
}
if (pitch > 1 || pitch < -1)
{
throw new ArgumentOutOfRangeException("pitch");
}
if (yaw > 1 || yaw < -1)
{
throw new ArgumentOutOfRangeException("yaw");
}
if (gaz > 1 || gaz < -1)
{
throw new ArgumentOutOfRangeException("gaz");
}
if (_navigationData.State.HasFlag(NavigationState.Flying))
{
Send(new ProgressCommand(mode, roll, pitch, yaw, gaz));
}
}
public void mapFlightMode(FlightMode flightMode, FlightAttitude flightAttitude, ReferenceFrame frame)
{
computerMode = ComputerMode.Off;
computerAttitude = flightAttitude;
switch (flightMode)
{
case FlightMode.Off: { computerMode = ComputerMode.Off; break; }
case FlightMode.KillRot: { computerMode = ComputerMode.Kill; break; }
case FlightMode.AttitudeHold:
{
computerMode = ComputerMode.Custom;
switch (frame)
{
case ReferenceFrame.Maneuver: { computerMode = ComputerMode.Node; break; }
case ReferenceFrame.Orbit: { computerMode = ComputerMode.Orbital; break; }
case ReferenceFrame.Surface: { computerMode = ComputerMode.Surface; break; }
case ReferenceFrame.TargetParallel: { computerMode = ComputerMode.TargetPos; break; }
case ReferenceFrame.TargetVelocity: { computerMode = ComputerMode.TargetVel; break; }
}
break;
}
}
}
public void ChangeFlightMode(FlightMode flightMode)
{
if (flightMode != m_currentFlightMode)
{
m_currentFlightMode.Value = flightMode;
}
SetAutoPilotEnabled(m_autoPilotEnabled);
}
private void OnPasteAutopilotSetup(MyObjectBuilder_AutopilotClipboard clipboard)
{
m_currentDirection = (Base6Directions.Direction)clipboard.Direction;
m_currentFlightMode = (FlightMode)clipboard.FlightMode;
m_dockingModeEnabled = clipboard.DockingModeEnabled;
if (clipboard.Waypoints != null)
{
m_waypoints = new List<MyAutopilotWaypoint>(clipboard.Waypoints.Count);
foreach (var waypoint in clipboard.Waypoints)
{
if (waypoint.Actions != null)
{
foreach (var action in waypoint.Actions)
{
var blockAction = action as MyObjectBuilder_ToolbarItemTerminalBlock;
//Swith from old entity to the new one
if (blockAction != null && blockAction.BlockEntityId == clipboard.RemoteEntityId)
{
blockAction.BlockEntityId = EntityId;
}
}
}
m_waypoints.Add(new MyAutopilotWaypoint(waypoint, this));
}
}
m_selectedWaypoints.Clear();
RaisePropertiesChangedRemote();
}
public void ChangeFlightMode(FlightMode flightMode)
{
if (m_syncing)
{
return;
}
var msg = new ChangeFlightModeMsg();
msg.EntityId = m_remoteControl.EntityId;
msg.NewFlightMode = flightMode;
Sync.Layer.SendMessageToAllAndSelf(ref msg);
}
public override void Init(MyObjectBuilder_CubeBlock objectBuilder, MyCubeGrid cubeGrid)
{
SyncFlag = true;
base.Init(objectBuilder, cubeGrid);
NeedsUpdate = MyEntityUpdateEnum.BEFORE_NEXT_FRAME | MyEntityUpdateEnum.EACH_FRAME | MyEntityUpdateEnum.EACH_10TH_FRAME;
var remoteOb = (MyObjectBuilder_RemoteControl)objectBuilder;
m_savedPreviousControlledEntityId = remoteOb.PreviousControlledEntityId;
PowerReceiver = new MyPowerReceiver(
MyConsumerGroupEnum.Utility,
false,
m_powerNeeded,
this.CalculateRequiredPowerInput);
PowerReceiver.IsPoweredChanged += Receiver_IsPoweredChanged;
PowerReceiver.RequiredInputChanged += Receiver_RequiredInputChanged;
PowerReceiver.Update();
m_autoPilotEnabled = remoteOb.AutoPilotEnabled;
m_dockingModeEnabled = remoteOb.DockingModeEnabled;
m_currentFlightMode = (FlightMode)remoteOb.FlightMode;
m_currentDirection = (Base6Directions.Direction)remoteOb.Direction;
if (remoteOb.Coords == null || remoteOb.Coords.Count == 0)
{
if (remoteOb.Waypoints == null)
{
m_waypoints = new List<MyAutopilotWaypoint>();
CurrentWaypoint = null;
}
else
{
m_waypoints = new List<MyAutopilotWaypoint>(remoteOb.Waypoints.Count);
for (int i = 0; i < remoteOb.Waypoints.Count; i++)
{
m_waypoints.Add(new MyAutopilotWaypoint(remoteOb.Waypoints[i], this));
}
}
}
else
{
m_waypoints = new List<MyAutopilotWaypoint>(remoteOb.Coords.Count);
for (int i = 0; i < remoteOb.Coords.Count; i++)
{
m_waypoints.Add(new MyAutopilotWaypoint(remoteOb.Coords[i], remoteOb.Names[i], this));
}
if (remoteOb.AutoPilotToolbar != null && m_currentFlightMode == FlightMode.OneWay)
{
m_waypoints[m_waypoints.Count - 1].SetActions(remoteOb.AutoPilotToolbar.Slots);
}
}
if (remoteOb.CurrentWaypointIndex == -1 || remoteOb.CurrentWaypointIndex >= m_waypoints.Count)
{
CurrentWaypoint = null;
}
else
{
CurrentWaypoint = m_waypoints[remoteOb.CurrentWaypointIndex];
}
m_actionToolbar = new MyToolbar(MyToolbarType.ButtonPanel, pageCount: 1);
m_actionToolbar.DrawNumbers = false;
m_actionToolbar.Init(null, this);
m_selectedGpsLocations = new List<IMyGps>();
m_selectedWaypoints = new List<MyAutopilotWaypoint>();
UpdateText();
}
/// <summary>
/// Highlight the directional arrows on the GUI to display where the drone moves
/// </summary>
void inputManager_Progress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
labelAngles.Text = string.Format("Roll: {0:0.00}\nPitch: {1:0.00}\nYaw: {2:0.00}\nGaz: {3:0.00}\n", roll, pitch, yaw, gaz);
if (mode == FlightMode.Hover)
{
inputManager_Hover();
return;
}
labelRotateLeft.ForeColor = yaw < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelRotateRight.ForeColor = yaw > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelForward.ForeColor = pitch < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelBackward.ForeColor = pitch > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelLeft.ForeColor = roll < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelRight.ForeColor = roll > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelUp.ForeColor = gaz > 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
labelDown.ForeColor = gaz < 0 ? UISettings.Default.IconHighlightColor : UISettings.Default.IconDefaultColor;
}
private void ChangeFlightMode(FlightMode flightMode)
{
if (flightMode != m_currentFlightMode)
{
SyncObject.ChangeFlightMode(flightMode);
}
}
private void OnChangeFlightMode(FlightMode flightMode)
{
m_currentFlightMode = flightMode;
RaisePropertiesChangedRemote();
}
private void ChangeFlightMode(FlightMode flightMode)
{
if (flightMode != m_currentFlightMode)
{
m_currentFlightMode.Value = flightMode;
}
}
private void SwitchFlightMode(FlightMode flightMode)
{
currentFlightMode = flightMode;
flightModeSwitcher.SwitchFlightMode(flightMode);
}
void Command(string command)
{
string [] args = command.Split(';');
switch (args [0])
{
case ("halt"):
Runtime.UpdateFrequency = UpdateFrequency.None;
break;
case ("record"): // path;start;end
if (args.Length == 3 && args [1] != args [2])
{
Stop();
PathKey p = new PathKey(args [1], args [2]);
Path path = new Path();
paths [p] = path;
path.UpdateStatus(Path.Mode.Recording);
recordingPath = path;
}
break;
case ("stop"):
Stop();
break;
case ("oneway"): // oneway;id1;id2;... | Navigates to all of the points in one direction, then stops.
if (args.Length > 2)
{
Queue <PathKey> newCurrentPaths;
if (CompilePath(args, FlightMode.OneWay, out newCurrentPaths))
{
currentPaths = newCurrentPaths;
}
else
{
return;
}
ActivateNextPath();
mode = FlightMode.OneWay;
}
break;
case ("patrol"): // patrol;id1;id2;... | Navigates to all of the points in one direction, then in the reverse direction, and starts over.
if (args.Length > 2)
{
Queue <PathKey> newCurrentPaths;
if (CompilePath(args, FlightMode.Patrol, out newCurrentPaths))
{
currentPaths = newCurrentPaths;
}
else
{
return;
}
ActivateNextPath();
mode = FlightMode.Patrol;
}
break;
case ("circle"): // circle;id1;id2;... | Navigates to all of the points in one direction, then back to the first point, and starts over.
if (args.Length > 2)
{
Queue <PathKey> newCurrentPaths;
if (CompilePath(args, FlightMode.Circle, out newCurrentPaths))
{
currentPaths = newCurrentPaths;
}
else
{
return;
}
ActivateNextPath();
mode = FlightMode.Circle;
}
break;
}
}
public override string ToString()
{
return(FlightMode.ToString() + ";" + TimeStamp.ToString() + ";" + AngleEstimate.ToString() + AngleMeasured.ToString() + AngleReference.ToString() + AngularVelocity.ToString() + MotorSpeeds.ToString() +
HeightEstimate.ToString() + ";" + HeightMeasured.ToString() + ";" + HeightReference.ToString() + ";"
+ PositionEstimate.ToString() + PositionMeasured.ToString() + PositionReference.ToString() + VelocitySet.ToString() + "\n");
}
public override bool Execute(FlightComputer f, FlightCtrlState fcs)
{
if (mAbort)
{
Mode = FlightMode.Off;
mAbort = false;
}
switch (Mode)
{
case FlightMode.Off:
break;
case FlightMode.KillRot:
FlightCore.HoldOrientation(fcs, f, Orientation * Quaternion.AngleAxis(90, Vector3.left));
break;
case FlightMode.AttitudeHold:
FlightCore.HoldAttitude(fcs, f, Frame, Attitude, Orientation);
break;
case FlightMode.AltitudeHold:
break;
}
return false;
}
/// <summary>
/// This command controls the drone flight motions.
/// </summary>
/// <param name="mode">Enabling the use of progressive commands and/or the Combined Yaw mode (bitfield).</param>
/// <param name="roll">Drone left-right tilt - value in range [−1..1].</param>
/// <param name="pitch">Drone front-back tilt - value in range [−1..1].</param>
/// <param name="yaw">Drone angular speed - value in range [−1..1].</param>
/// <param name="gaz">Drone vertical speed - value in range [−1..1].</param>
public void Progress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
if (roll > 1 || roll < -1)
throw new ArgumentOutOfRangeException("roll");
if (pitch > 1 || pitch < -1)
throw new ArgumentOutOfRangeException("pitch");
if (yaw > 1 || yaw < -1)
throw new ArgumentOutOfRangeException("yaw");
if (gaz > 1 || gaz < -1)
throw new ArgumentOutOfRangeException("gaz");
if (_navigationData.State.HasFlag(NavigationState.Flying))
Send(new ProgressCommand(mode, roll, pitch, yaw, gaz));
}
private void sendFlightMode(FlightMode mode)
{
int toSend = (int)mode;
xbee.send <int>(toSend, 'f');
}
/// <summary>
/// This command controls the drone flight motions.
/// </summary>
/// <param name="mode">Enabling the use of progressive commands and/or the Combined Yaw mode (bitfield).</param>
/// <param name="roll">Drone left-right tilt - value in range [−1..1].</param>
/// <param name="pitch">Drone front-back tilt - value in range [−1..1].</param>
/// <param name="yaw">Drone angular speed - value in range [−1..1].</param>
/// <param name="gaz">Drone vertical speed - value in range [−1..1].</param>
/// <param name="psi">Magneto psi - value in range [−1..1]</param>
/// <param name="accuracy">Magneto psi accuracy - value in range [−1..1].</param>
public void ProgressWithMagneto(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0, float psi = 0, float accuracy = 0)
{
if (roll > 1 || roll < -1)
throw new ArgumentOutOfRangeException("roll");
if (pitch > 1 || pitch < -1)
throw new ArgumentOutOfRangeException("pitch");
if (yaw > 1 || yaw < -1)
throw new ArgumentOutOfRangeException("yaw");
if (gaz > 1 || gaz < -1)
throw new ArgumentOutOfRangeException("gaz");
if (psi > 1 || psi < -1)
throw new ArgumentOutOfRangeException("psi");
if (accuracy > 1 || accuracy < -1)
throw new ArgumentOutOfRangeException("accuracy");
if (_navigationData.State.HasFlag(NavigationState.Flying))
Send(new ProgressWithMagnetoCommand(mode, roll, pitch, yaw, gaz, psi, accuracy));
}
public override string ToString()
{
return(FlightMode.ToString() + ";" + TimeStamp.ToString() + ";" + Armed.ToString() + ";" + AngleMeasured.ToString() + AngleReference.ToString() + MotorSpeeds.ToString() + "\n");
}
protected void OnProgress(FlightMode mode, float roll = 0, float pitch = 0, float yaw = 0, float gaz = 0)
{
if (Emergency != null)
Progress(mode, roll, pitch, yaw, gaz);
}