private void InitializeMavLink()
{
mMavLink = new MavLinkUdpTransport();
mMavLink.MavlinkSystemId = GetSystemId();
mMavLink.Initialize();
mMavLink.BeginHeartBeatLoop();
mMavLink.HeartBeatUpdateRateMs = 100;
mAttitudeState = (UasAttitude)mMavLink.UavState.Get("Attitude");
}
private static void ProcessUdpStream()
{
MavLinkUdpTransport mluc = new MavLinkUdpTransport
{
TargetIpAddress = new IPAddress(new byte[] { 127, 0, 0, 1 }),
MavlinkSystemId = 187
};
mluc.OnPacketReceived += OnMavLinkPacketReceived;
mluc.Initialize();
mluc.BeginHeartBeatLoop();
Console.WriteLine("Waiting for UDP...");
Console.ReadLine();
}
private void InitMavlink(IPAddress targetIp, int targetPort, int listenPort)
{
if (mMavlinkClient != null)
{
mMavlinkClient.Dispose();
}
mMavlinkClient = new MavLinkUdpTransport()
{
TargetIpAddress = targetIp,
UdpTargetPort = targetPort,
UdpListeningPort = listenPort
};
mMavlinkClient.OnPacketReceived += mMavlinkClient_OnPacketReceived;
}
