public AntTrackerDatosAntena ReadDatosAntena()
{
if (this.IsOpen())
{
AntTrackerDatosAntena datos = new AntTrackerDatosAntena();
byte[] buff = Read(Comandos.ReadAntena, 0, 0, datos.size_bytes());
datos.FromByteArray(buff);
return datos;
}
else
return null;
}
public void RefreshInstruments()
{
if (modem != null)
{
me.planeState = modem.getTelemetry();
if (me.planeState != null)
{
medidorBaterias1.volts = me.planeState.v1;
medidorBaterias2.volts = me.planeState.v2;
if (me.SistemaMetrico == (int)Singleton.SistemasMetricos.Metrico)
instrumento_Altimeter1.Altitude = me.planeState.Alt;
else
instrumento_Altimeter1.Altitude = me.planeState.Alt*3.28f;
instrumento_DirectionalGyro1.Value = me.planeState.Rumbo;
if (me.SistemaMetrico == (int)Singleton.SistemasMetricos.Metrico)
instrumento_VerticalSpeed1.Value=me.planeState.vertSpeed*100;
else
instrumento_VerticalSpeed1.Value = me.planeState.vertSpeed*328.0f;
instrumento_HorizonteArtificial.pitch = me.planeState.pitch;
instrumento_HorizonteArtificial.roll = me.planeState.roll;
if (me.SistemaMetrico == (int)Singleton.SistemasMetricos.Imperial)
dG808_AirSpeed1.Value = me.planeState.Knots;
else
dG808_AirSpeed1.Value = me.planeState.Knots * 1.852f;
medidorRSSI.valor = me.planeState.RSSI / 100.0f;
medidorRSSI.Invalidate();
// cambiar por planeWpt
mapControl1.plane.heading = me.planeState.Rumbo;
mapControl1.plane.Latitude = me.planeState.Lat;
mapControl1.plane.Longitude = me.planeState.Lon;
mapControl1.plane.Altitude = me.planeState.Alt;
if (checkBox2.Checked)
{
//if (DateTime.Now.Millisecond < 500)
if (DateTime.Now.Second %2 == 0)
{
if (semaforo)
{
mapControl1.AddHistory();
semaforo = false;
}
}
else
{
if (!semaforo)
{
//mapControl1.AddHistory();
semaforo = true;
}
}
}
else
mapControl1.ClearHistory();
me.HomeAlt = instrumento_Altimeter1.Calibration;
homeWpt.Altitude = me.HomeAlt;
// cambiar por targetWpt
mapControl1.target.Latitude = me.planeState.homeLat;
mapControl1.target.Longitude = me.planeState.homeLon;
if (antTracker != null)
{
antTracker.Send(me.planeState, homeWpt);
datosAntena = antTracker.datosAntena;
if (datosAntena != null)
{
medidorBaterias3.volts = datosAntena.v_bateria;
medidorBaterias3.valor = datosAntena.v_baterial_porcentaje / 100.0f;
medidorBaterias3.Invalidate();
}
}
if (checkBoxHomeRX.Checked == false)
{
if (datosAntena != null && datosAntena.tieneGPS!=0)
{
if (datosAntena.tienePOS != 0)
{
homeWpt.Latitude = datosAntena.lat;
homeWpt.Longitude = datosAntena.lon;
}
}
else
{
homeWpt.Latitude = me.HomeLat;
homeWpt.Longitude = me.HomeLon;
}
}
else if (me.planeState.WptIndex == -1)
{
homeWpt.Latitude = me.planeState.homeLat;
homeWpt.Longitude = me.planeState.homeLon;
}
if (me.planeState.WptIndex != -3)
{
mapControl1.home.Latitude = homeWpt.Latitude;
mapControl1.home.Longitude = homeWpt.Longitude;
//mapControl1.home = new WayPoint("CASA", homeWpt.Longitude, homeWpt.Latitude);
mapControl1.rumboHold = float.NaN;
try
{
if (me.planeState.WptIndex >= 0 && me.planeState.WptIndex < 32 &&
(me.planeState.WptIndex != last_wptid || last_wptid != numericUpDown2.Value))
{
last_wptid = (byte)me.planeState.WptIndex;
numericUpDown2.Tag = last_wptid;
numericUpDown2.Value = last_wptid;
}
}
catch (Exception) { }
}
else
{
//mapControl1.home = null;
mapControl1.rumboHold = (float)me.planeState.homeLon;
}
mapControl1.Invalidate();
if (me.enableUDPinout)
SenderUDP.SendInfo(me.NombrePiloto, me.portUDPinout);
led1.valid = me.planeState.lastrx;
led1.Invalidate();
}
}
if (jthread != null)
{
try
{
UpdateButtonCamera();
UpdateButtonAutopilot();
UpdateButtonHUD();
UpdateButtonRuta();
medidorBaterias4.volts = me.uplink_voltage;
}
catch (Exception) { }
}
}
void tarea(AntTracker obj)
{
if (antenaTracker.IsOpen())
{
if (singleton.telemetria == Singleton.Telemetria.AntTracker)
{
obj.packet = antenaTracker.ReadModem();
}
else if (obj.planeStateUpdated == true && CheckPlaneState(obj.planeState))
{
datosAvion.lon = obj.planeState.Lon;
datosAvion.lat = obj.planeState.Lat;
datosAvion.alt = (short)obj.planeState.Alt;
datosAvion.home_lon = (float)obj.home.Longitude;
datosAvion.home_lat = (float)obj.home.Latitude;
datosAvion.home_alt = (short)obj.home.Altitude;
if (antenaTracker.WriteDatosAvion(datosAvion) != USBXpress.USBXpress.ReturnCodes.SI_SUCCESS)
{
antenaTracker.Close();
}
else
datosAntena = antenaTracker.ReadDatosAntena();
}
if (debugUpdated)
{
antenaTracker.WriteDebugInfo(debug);
debugUpdated = false;
}
}
else
{
antenaTracker = new AntenaTracker();
}
}
