public Vehicle(IMavlinkV2Connection connection, VehicleConfig config)
{
if (connection == null)
{
throw new ArgumentNullException(nameof(connection));
}
if (config == null)
{
throw new ArgumentNullException(nameof(config));
}
_mavlinkConnection = connection;
_rtt = new RawTelemetry(_mavlinkConnection, new RawTelemetryConfig {
ComponentId = config.ComponentId, HeartbeatTimeoutMs = config.HeartbeatTimeoutMs, SystemId = config.SystemId
});
_params = new VehicleParameterProtocol(_mavlinkConnection, new VehicleParameterProtocolConfig {
ComponentId = config.ComponentId, SystemId = config.SystemId, ReadWriteTimeoutMs = config.ReadParamTimeoutMs, TimeoutToReadAllParamsMs = config.TimeoutToReadAllParamsMs
});
_vehicleCommands = new VehicleCommandProtocol(_mavlinkConnection, new CommandProtocolConfig {
ComponentId = config.ComponentId, CommandTimeoutMs = config.CommandTimeoutMs, SystemId = config.SystemId
});
_mission = new VehicleMissionProtocol(_mavlinkConnection,
new VehicleMissionProtocolConfig {
ComponentId = config.ComponentId, SystemId = config.SystemId
});
_offboard = new OffboardMode(_mavlinkConnection, new OffboardModeConfig());
}
public VehiclePx4(IMavlinkV2Connection conn, VehicleConfig config) : base(conn, config)
{
_config = config;
Connection
.Where(FilterVehicle)
.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId)
.Cast <HeartbeatPacket>()
.Select(_ => new Px4VehicleMode(_.Payload))
.Subscribe(_px4Mode);
}
