private void timerWrite_Tick(object sender, EventArgs e)
{
CDroneManager.WriteParameter(ParameterName, Value);
CDroneManager.ReadParameter(ParameterName);
timerWrite.Stop();
}
static void CDroneManager_OnPacket(object packet, int sysId, int compId)
{
if (packet.GetType() == typeof(MAVLink.mavlink_statustext_t))
{
MAVLink.mavlink_statustext_t status = (MAVLink.mavlink_statustext_t)packet;
string messageString = ASCIIEncoding.ASCII.GetString(status.text);
UpdateStatus(messageString.Substring(0, Math.Max(0, messageString.IndexOf('\0'))));
}
if (packet.GetType() == typeof(MAVLink.mavlink_heartbeat_t))
{
// // Return a heartbeat to the drone, this ensures the drones knows the GCS is on
// // and won't panic when on Guided mode
// CHeartbeatThread.Initialize();
//
if ((lastPacket != null) && (lastPacket.GetType() == typeof(MAVLink.mavlink_heartbeat_t)))
{
// This means we got 2 heartbeats in a row. This shouldn't happen - More messages need to be received
CDroneManager.SetConstantUpdates();
}
OnRefreshDroneInfo?.Invoke();
}
lastPacket = packet;
}
void CManager_OnRefreshDroneInfo()
{
this.SafeInvoke((Action) delegate
{
if (this.IsDisposed)
{
return;
}
CDroneManager.UpdateLastFlightMode(CDroneManager.Mode);
labelMode.Text = APMModes.ModeToString(CDroneManager.Mode);
labelAlt.Text = CDroneManager.DronePosition.altFromGround.ToString("0.0m");
labelHDOP.Text = String.Format("{0:0.0m} ({1})", CDroneManager.GPSHdop, CDroneManager.GPSSatelliteCount);
labelHeading.Text = CDroneManager.DronePosition.heading.ToString("0.0°");
CultureInfo cultureInfo = CultureInfo.GetCultureInfoByIetfLanguageTag("en-US");
TextInfo textInfo = cultureInfo.TextInfo;
/*labelDroneState.Text = textInfo.ToTitleCase(CDroneManager.DroneState.ToString().ToLower());*/
labelEKF.Text = CDroneManager.EKFStatus.ToString("0.000") + " (" + CDroneManager.EKFFlags + ")";
}, false);
}
private void buttonSetAsCh6_Click(object sender, EventArgs e)
{
CDroneManager.WriteParameter("TUNE", double.Parse(ch6ParameterValue));
CDroneManager.ReadParameter("TUNE", false);
CDroneManager.WriteParameter("TUNE_LOW", Ch6MinValue);
CDroneManager.WriteParameter("TUNE_HIGH", Ch6MaxValue);
CDroneManager.ReadParameter("TUNE_LOW", true);
CDroneManager.ReadParameter("TUNE_HIGH", true);
}
private void Connect()
{
comm = new CSerialComm();
comm.Comport = Properties.Settings.Default.Comport;
comm.Baudrate = Properties.Settings.Default.Baud;
if (comm.Connect())
{
CDroneManager.Initialize(comm);
buttonConnect.Text = "Disconnect";
RefreshAll();
}
}
private void RefreshAll()
{
CDroneManager.ReadParameter("TUNE", false);
CDroneManager.ReadParameter("TUNE_LOW", false);
CDroneManager.ReadParameter("TUNE_HIGh", false);
touchSpinPitchP.RefreshParameter();
touchSpinPitchI.RefreshParameter();
touchSpinPitchD.RefreshParameter();
touchSpinPitchImax.RefreshParameter();
touchSpinRollP.RefreshParameter();
touchSpinRollI.RefreshParameter();
touchSpinRollD.RefreshParameter();
touchSpinRollImax.RefreshParameter();
touchSpinYawP.RefreshParameter();
touchSpinYawI.RefreshParameter();
touchSpinYawD.RefreshParameter();
touchSpinYawImax.RefreshParameter();
touchSpinAltP.RefreshParameter();
touchSpinAltI.RefreshParameter();
touchSpinAltD.RefreshParameter();
}
public void RefreshParameter()
{
CDroneManager.ReadParameter(ParameterName, false);
}
private void buttonClearCh6_Click(object sender, EventArgs e)
{
CDroneManager.WriteParameter("TUNE", 0);
}
