private bool _stabilizeMode, _stabilizeModeGoal; /** True for the stabilize mode */
#endregion Fields
#region Constructors
public OrientationFetcher(ISatService service)
{
_satService = service;
_goal_pitch = _goal_yaw = Constants.DEFAULT_SERVO_POS;
_fps = _goalFps = Constants.DEF_FPS;
_Ki = _KiGoal = 0;
_Kp = _KpGoal = 0.2;
_expTime = _goalExpTime = Constants.DEF_EXP_TIME;
_servoPitch = _servoYaw = Constants.DEFAULT_SERVO_POS;
_roll = new ExponentialAverage(ALPHA);
_pitch = new ExponentialAverage(ALPHA);
_yaw = new ExponentialAverage(ALPHA);
_stabilizeMode = false;
}
private bool serviceIsFaulted(ISatService service)
{
try
{
service.Ping();
return false;
}
catch (Exception)
{
return true;
}
}
private void serviceConnect()
{
serviceDisconnect();
NetTcpBinding binding = new NetTcpBinding();
binding.MaxReceivedMessageSize = 20000000;
binding.MaxBufferPoolSize = 20000000;
binding.MaxBufferSize = 20000000;
binding.Security.Mode = SecurityMode.None;
Console.WriteLine("Init sat service");
_scf = new ChannelFactory<ISatService>(
binding,
"net.tcp://" + IPAdress.Text + ":8000");
_satService = _scf.CreateChannel();
Console.WriteLine("Sat service ok (connected to server)");
}
