public ServoOutputRaw(MavLinkMessage message) : base(null)
{
if (message.messid.Equals(this.MessageID))
{
MAVLink.mavlink_servo_output_raw_t data = (MAVLink.mavlink_servo_output_raw_t)message.data_struct;
this.port = data.port;
this.servo1_raw = data.servo1_raw;
this.servo2_raw = data.servo2_raw;
this.servo3_raw = data.servo3_raw;
this.servo4_raw = data.servo4_raw;
this.servo5_raw = data.servo5_raw;
this.servo6_raw = data.servo6_raw;
this.servo7_raw = data.servo7_raw;
this.servo8_raw = data.servo8_raw;
this.time_usec = data.time_usec;
}
}
public void CheckServoOutputRawObject()
{
MAVLink.mavlink_servo_output_raw_t data = new MAVLink.mavlink_servo_output_raw_t();
data.port = 1;
data.servo1_raw = 2;
data.servo2_raw = 3;
data.servo3_raw = 4;
data.servo4_raw = 5;
data.servo5_raw = 6;
data.servo6_raw = 7;
data.servo7_raw = 8;
data.servo8_raw = 9;
data.time_usec = 10;
MavLinkMessage message = createSampleMessage(MAVLink.MAVLINK_MSG_ID.SERVO_OUTPUT_RAW, data);
ServoOutputRaw obj = new ServoOutputRaw(message);
Assert.AreEqual(data.port, obj.port);
Assert.AreEqual(data.servo1_raw, obj.servo1_raw);
Assert.AreEqual(data.servo2_raw, obj.servo2_raw);
Assert.AreEqual(data.servo3_raw, obj.servo3_raw);
Assert.AreEqual(data.servo4_raw, obj.servo4_raw);
Assert.AreEqual(data.servo5_raw, obj.servo5_raw);
Assert.AreEqual(data.servo6_raw, obj.servo6_raw);
Assert.AreEqual(data.servo7_raw, obj.servo7_raw);
Assert.AreEqual(data.servo8_raw, obj.servo8_raw);
Assert.AreEqual(data.time_usec, obj.time_usec);
ServoOutputRawDTO dto = DTOFactory.createServoOutputRawDTO(obj);
Assert.AreEqual(dto.port, obj.port);
Assert.AreEqual(dto.servo1_raw, obj.servo1_raw);
Assert.AreEqual(dto.servo2_raw, obj.servo2_raw);
Assert.AreEqual(dto.servo3_raw, obj.servo3_raw);
Assert.AreEqual(dto.servo4_raw, obj.servo4_raw);
Assert.AreEqual(dto.servo5_raw, obj.servo5_raw);
Assert.AreEqual(dto.servo6_raw, obj.servo6_raw);
Assert.AreEqual(dto.servo7_raw, obj.servo7_raw);
Assert.AreEqual(dto.servo8_raw, obj.servo8_raw);
Assert.AreEqual(dto.time_usec, obj.time_usec);
}
public IEnumerable <Flight> GetFlights()
{
if (flights == null)
{
flights = new List <Model.Flight>();
int min = int.MaxValue;
int max = int.MinValue;
// mavlink_servo_output_raw_t is an actual PWM signal, so it toggles between RC0_TRIM (usually 1500) and the
// values it is sending to the motor, so we have to weed out the trim values in order to see the actual
// values.
int trim = 1500; // should get this from the parameter values.
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
if (servo.servo1_raw != 0 && servo.servo1_raw != trim)
{
min = Math.Min(min, servo.servo1_raw);
max = Math.Max(max, servo.servo1_raw);
}
}
}
// find flights
DateTime start = this.startTime;
DateTime endTime = start;
Flight current = null;
int offCount = 0;
// compute the min/max servo settings.
foreach (var msg in this.data)
{
if (msg.TypedValue is MAVLink.mavlink_servo_output_raw_t)
{
MAVLink.mavlink_servo_output_raw_t servo = (MAVLink.mavlink_servo_output_raw_t)msg.TypedValue;
endTime = start.AddMilliseconds(servo.time_usec / 1000);
if (servo.servo1_raw != trim)
{
if (servo.servo1_raw > min)
{
if (current == null)
{
current = new Flight()
{
Log = this,
StartTime = start.AddMilliseconds(servo.time_usec / 1000)
};
flights.Add(current);
offCount = 0;
}
}
else if (servo.servo1_raw == min && offCount++ > 10)
{
if (current != null)
{
current.Duration = endTime - current.StartTime;
current = null;
}
}
}
}
}
if (current != null)
{
current.Duration = endTime - current.StartTime;
}
}
return(flights);
}
