public MissionClient(IMavlinkV2Connection mavlink, IPacketSequenceCalculator seq,
MavlinkClientIdentity identity, MissionClientConfig config)
{
_mavlink = mavlink ?? throw new ArgumentNullException(nameof(mavlink));
_seq = seq ?? throw new ArgumentNullException(nameof(seq));
_identity = identity ?? throw new ArgumentNullException(nameof(identity));
_config = config;
}
public MissionClient(IMavlinkV2Connection mavlink, MavlinkClientIdentity identity, IPacketSequenceCalculator seq, MissionClientConfig config) : base(mavlink, identity, seq, "MISSION")
{
_config = config;
_missionCurrent = new RxValue <ushort>().DisposeItWith(Disposable);
_missionReached = new RxValue <ushort>().DisposeItWith(Disposable);
mavlink.FilterVehicle(identity).Filter <MissionCurrentPacket>().Select(_ => _.Payload.Seq).Subscribe(_missionCurrent)
.DisposeItWith(Disposable);
mavlink.FilterVehicle(identity).Filter <MissionItemReachedPacket>().Select(_ => _.Payload.Seq).Subscribe(_missionReached)
.DisposeItWith(Disposable);
}
public VehiclePx4(IMavlinkV2Connection conn, MavlinkClientIdentity identity, MavlinkClientConfig config) : base(conn, identity, config)
{
_identity = identity;
Connection
.Where(FilterVehicle)
.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId)
.Cast <HeartbeatPacket>()
.Select(_ => new Px4VehicleMode(_.Payload))
.Subscribe(_px4Mode);
}
public MavlinkTelemetry(IMavlinkV2Connection connection, MavlinkClientIdentity config)
{
_config = config;
_connection = connection;
_inputPackets = connection.FilterVehicle(config);
HandleSystemStatus();
HandleGps();
HandleHighresImu();
HandleVfrHud();
HandleAttitude();
HandleBatteryStatus();
HandleAltitude();
HandleExtendedSysState();
HandleHome();
HandleGlobalPositionInt();
HandleRadioStatus();
}
public MavlinkCommandClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity,
IPacketSequenceCalculator seq, CommandProtocolConfig config)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (seq == null)
{
throw new ArgumentNullException(nameof(seq));
}
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_connection = connection;
_identity = identity;
_seq = seq;
_config = config;
}
public MavlinkOffboardMode(IMavlinkV2Connection connection, MavlinkClientIdentity config)
{
_connection = connection;
_config = config;
}
public MavlinkCommandClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity,
IPacketSequenceCalculator seq, CommandProtocolConfig config) : base(connection, identity, seq, "COMMAND")
{
_config = config ?? throw new ArgumentNullException(nameof(config));
}
public FtpClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity, PacketSequenceCalculator seq)
{
_connection = connection;
_identity = identity;
_seq = seq;
}
public MavlinkOffboardMode(IMavlinkV2Connection connection, MavlinkClientIdentity config,
IPacketSequenceCalculator seq) : base(connection, config, seq, "OFFBOARD")
{
}
