private static async Task <List <MissionItem> > GetSampleMissionPoints(MavsdkSystem drone)
{
var dronePosition = await drone.Telemetry.Position().FirstAsync();
var missionPoints = new List <MissionItem>();
var missionItem = new MissionItem();
missionItem.IsFlyThrough = true;
missionItem.SpeedMS = 2;
missionItem.RelativeAltitudeM = 5;
missionItem.LatitudeDeg = dronePosition.LatitudeDeg;
missionItem.LongitudeDeg = dronePosition.LongitudeDeg;
for (int i = 0; i < 3; i++)
{
missionItem = missionItem.Clone();
if (i % 2 == 0)
{
missionItem.LatitudeDeg += 0.0001;
}
else
{
missionItem.LatitudeDeg -= 0.0001;
}
missionItem.LongitudeDeg += 0.0001;
missionPoints.Add(missionItem);
}
return(missionPoints);
}
static async Task Main()
{
/*
* Print the relative altitude.
*
* Note:
* - round it to the first decimal
* - emit an event only when the value changes
* - discard the altitudes lower than 0
*/
var drone = new MavsdkSystem(Host, Port);
drone.Telemetry.Position()
.Select(position => Math.Round(position.RelativeAltitudeM, 1))
.DistinctUntilChanged()
.Where(altitude => altitude >= 0)
.Subscribe(Observer.Create <double>(altitude => Console.WriteLine($"altitude: {altitude}"), _ => { }));
// Print the takeoff altitude.
drone.Action.GetTakeoffAltitude()
.Do(altitude => Console.WriteLine($"Takeoff altitude: {altitude}"))
.Subscribe();
// Arm, takeoff, wait 5 seconds and land.
var tcs = new TaskCompletionSource <bool>();
drone.Action.Arm()
.Concat(drone.Action.Takeoff())
.Delay(TimeSpan.FromSeconds(5))
.Concat(drone.Action.Land())
.Subscribe(Observer.Create <Unit>(_ => { }, onError: _ => tcs.SetResult(false), onCompleted: () => tcs.SetResult(true)));
// Wait until the takeoff routine completes (which happens when the landing starts)
await tcs.Task;
}
static async Task Main()
{
/*
* Print the relative altitude.
*
* Note:
* - round it to the first decimal
* - emit an event only when the value changes
* - discard the altitudes lower than 0
*/
var drone = new MavsdkSystem(Host, Port);
var tcs = new TaskCompletionSource <bool>();
drone.Telemetry.Position()
.Select(position => Math.Round(position.RelativeAltitudeM, 1))
.DistinctUntilChanged()
.Where(altitude => altitude >= 0)
.Subscribe(Observer.Create <double>(altitude => Console.WriteLine($"altitude: {altitude}"), _ => { }));
// Print the takeoff altitude.
drone.Action.GetTakeoffAltitude()
.Do(altitude => Console.WriteLine($"Takeoff altitude: {altitude}"))
.Subscribe();
// Print mission progress + end program when flown to completion
drone.Mission.MissionProgress()
.Subscribe(mp =>
{
Console.WriteLine($"Mission progress - item #{mp.CurrentItemIndex+1}");
if (mp.CurrentItemIndex == mp.MissionCount - 1 && mp.MissionCount > 0)
{
tcs.SetResult(true);
}
});
// Upload and fly a mission
var missionPoints = await GetSampleMissionPoints(drone);
drone.Mission.UploadMission(missionPoints)
.Concat(drone.Mission.SetReturnToLaunchAfterMission(true))
.Concat(drone.Action.Arm())
.Concat(drone.Mission.StartMission())
.Subscribe(_ => { });
//wait until the mission finishes (from MissionProgress subscription)
await tcs.Task;
}
