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);
}
internal MissionItem(MissionItemIntPayload item)
{
Payload = item;
Location = new RxValue <GeoPoint>(new GeoPoint(item.X / 10_000_000.0, item.Y / 10_000_000.0, item.Z)).DisposeItWith(Disposable);
Location.Subscribe(_ =>
{
Payload.X = (int)(_.Latitude * 10_000_000.0);
Payload.Y = (int)(_.Longitude * 10_000_000.0);
Payload.Z = (float)_.Altitude;
_onChanged.OnNext(Unit.Default);
}).DisposeItWith(Disposable);
Autocontinue = new RxValue <bool>(item.Autocontinue != 0).DisposeItWith(Disposable);
Autocontinue.Subscribe(_ => item.Autocontinue = (byte)(_ ? 1 : 0)).DisposeItWith(Disposable);
Command = new RxValue <MavCmd>(item.Command).DisposeItWith(Disposable);
Command.Subscribe(_ => item.Command = _).DisposeItWith(Disposable);
Current = new RxValue <bool>(item.Current != 0).DisposeItWith(Disposable);
Current.Subscribe(_ => item.Current = (byte)(_ ? 1 : 0)).DisposeItWith(Disposable);
Frame = new RxValue <MavFrame>(item.Frame).DisposeItWith(Disposable);
Frame.Subscribe(_ => item.Frame = _).DisposeItWith(Disposable);
MissionType = new RxValue <MavMissionType>(item.MissionType).DisposeItWith(Disposable);
MissionType.Subscribe(_ => item.MissionType = _).DisposeItWith(Disposable);
Param1 = new RxValue <float>(item.Param1).DisposeItWith(Disposable);
Param1.Subscribe(_ => item.Param1 = _).DisposeItWith(Disposable);
Param2 = new RxValue <float>(item.Param2).DisposeItWith(Disposable);
Param2.Subscribe(_ => item.Param2 = _).DisposeItWith(Disposable);
Param3 = new RxValue <float>(item.Param3).DisposeItWith(Disposable);
Param3.Subscribe(_ => item.Param3 = _).DisposeItWith(Disposable);
Param4 = new RxValue <float>(item.Param4).DisposeItWith(Disposable);
Param4.Subscribe(_ => item.Param4 = _).DisposeItWith(Disposable);
_onChanged.DisposeItWith(Disposable);
}
