// Update is called once per frame
void Update()
{
switch (stage)
{
case Stage.None:
break;
case Stage.WaitingForGuided:
if (droneAction.IsGuided())
{
Debug.Log("arm");
droneAction.Arm();
stage = Stage.WaitingForArmed;
}
break;
case Stage.WaitingForArmed:
if (droneAction.IsArmed())
{
Debug.Log("takeoff");
droneAction.TakeOff();
stage = Stage.WaitingForTakeoffDone;
}
break;
case Stage.WaitingForTakeoffDone:
if (transform.position.y > 0.9f)
{
Debug.Log("switch to poshold");
droneAction.Poshold();
stage = Stage.WaitingForPosHold;
}
break;
default:
break;
}
}
private void Update()
{
if (Gamepad.current != null)
{
controlCd -= Time.deltaTime;
if (controlCd <= 0)
{
controlCd = 0.1f;
/*if (droneAction.IsPosHold())
* {
* float alt = drone.transform.position.y;
* if (alt > 1.2f && throttle > 500)
* {
* throttle = 500;
* }
* else if (alt < 0.7f && throttle < 500)
* {
* throttle = 500;
* }
* }*/
droneAction.ManualControl(pitch, roll, throttle, yaw);
}
}
checkCd -= Time.deltaTime;
if (checkCd <= 0)
{
checkCd = 1f;
switch (stage)
{
case Stage.WaitingForGuided:
if (droneAction.IsGuided())
{
Debug.Log("arm");
droneAction.Arm();
stage = Stage.WaitingForArmed;
}
break;
case Stage.WaitingForArmed:
if (droneAction.IsArmed())
{
Debug.Log("takeoff");
droneAction.TakeOff();
stage = Stage.WaitingForTakeoffDone;
}
break;
case Stage.WaitingForTakeoffDone:
if (drone.transform.position.y > 0.9f)
{
Debug.Log("switch to poshold");
droneAction.Poshold();
stage = Stage.WaitingForPosHold;
}
break;
case Stage.WaitingForPosHold:
if (droneAction.IsPosHold())
{
stage = Stage.None;
}
else
{
droneAction.Poshold();
}
break;
}
}
}