public async Task <InvokeResult <Mission> > GetWayPointsAsync(IConnectedUas uas)
{
var mission = new Mission();
var missionRequest = new UasMissionRequestList
{
TargetSystem = uas.Uas.SystemId,
TargetComponent = uas.Uas.ComponentId
};
var result = await uas.Transport.RequestDataAsync <UasMissionCount>(missionRequest, UasMessages.MissionCount);
if (result.Successful)
{
for (ushort idx = 0; idx < result.Result.Count; ++idx)
{
var reqf = new UasMissionRequestInt
{
TargetSystem = uas.Uas.SystemId,
TargetComponent = uas.Uas.ComponentId,
Seq = idx
};
var wpResult = await uas.Transport.RequestDataAsync <UasMissionItemInt>(reqf, UasMessages.MissionItemInt);
if (wpResult.Successful)
{
mission.Waypoints.Add(Waypoint.Create(wpResult.Result));
}
}
}
return(InvokeResult <Mission> .Create(mission));
}
private void button11_Click(object sender, EventArgs e)
{
var msg1 = new UasMissionRequestList();
MyShell.WriteLine("警告" + "Send UasMissionRequestList");
_mMavLink.SendMessage(msg1);
Thread.Sleep(500);
MyShell.WriteLine("警告" + "Send UasMissionRequest");
var msg2 = new UasMissionRequest {
Seq = 0
};
_mMavLink.SendMessage(msg2);
//var msg1 = new UasMissionItem {Seq = 1};
//_mMavLink.SendMessage(msg1);
}
