/// <summary>
/// 编制任务点任务
/// </summary>
/// <param name="comport">执行任务端口</param>
/// <param name="cmd">指令</param>
/// <param name="param">参数</param>
/// <returns>返回任务</returns>
private FormationTask BuildTask(MAVLinkInterface comport, MAVLink.MAV_CMD cmd, float[] param)
{
FormationTask singleTask = new FormationTask();
if (param[6] == 0)
singleTask.taskStyle = TaskStyle.Point;
else
singleTask.taskStyle = TaskStyle.Height;
singleTask.taskPort = comport;
singleTask.cmd = cmd;
singleTask.param = param;
return singleTask;
}
/// <summary>
/// 编制模式任务
/// </summary>
/// <param name="comport">执行任务端口</param>
/// <param name="model">模式</param>
/// <returns>返回任务</returns>
private FormationTask BuildTask(MAVLinkInterface comport, string model)
{
FormationTask singleTask = new FormationTask();
singleTask.taskPort = comport;
singleTask.taskStyle = TaskStyle.Model;
singleTask.model = model;
return singleTask;
}
