private void btn_update_mrft_Click(object sender, EventArgs e)
{
settings_controller.mrft_para mrft_data= new settings_controller.mrft_para();
mrft_data.relay_amp = 30;
mrft_data.beta = -0.4f;
mrft_data.bias = 0;
if (hardware_driver != null)
{
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.mrft_pitch, mrft_data));
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.mrft_roll, mrft_data));
}
}
private void cmd_update_Click(object sender, EventArgs e)
{
settings_controller.mrft_para mrft_data = new settings_controller.mrft_para();
float beta_val, amp_val;
beta_val = barBeta.Value * -0.0004f;
amp_val = barAmp.Value * 0.05f;
mrft_data.relay_amp = amp_val;
mrft_data.beta = beta_val;
mrft_data.bias = -barBias.Value;//Bias is flipped
if (hardware_driver != null)
{
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.mrft_roll, mrft_data));
System.Threading.Thread.Sleep(10);
hardware_driver.serial_send(mw_commander.update_settings(commander.tSetting.mrft_pitch, mrft_data));
System.Threading.Thread.Sleep(10);
}
}
private void update_mrft_point_settings(mrft_point mrft_point_para)
{
_msgID = _organizer.MWCommander.AckID;
settings_controller.mrft_para mrft_data = new settings_controller.mrft_para();
mrft_data.relay_amp = mrft_point_para.H;
mrft_data.beta = mrft_point_para.Beta;
mrft_data.bias = mrft_point_para.Bias;
switch (_ctrl_chnl)
{
case commander.ctrl_channel.roll:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.mrft_roll, mrft_data);
break;
case commander.ctrl_channel.pitch:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.mrft_pitch, mrft_data);
break;
case commander.ctrl_channel.yaw:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.mrft_yaw, mrft_data);
break;
case commander.ctrl_channel.z_axis:
LastMessage = _organizer.MWCommander.update_settings(commander.tSetting.mrft_z, mrft_data);
break;
default:
//TODO: Add x and y channels
throw new NotImplementedException();
}
_organizer.MWSerialDriver.serial_send(LastMessage);
}
