public static List <Locationwp> download(MAVLinkInterface port, MAVLink.MAV_MISSION_TYPE type, Action <int, string> progress = null)
{
List <Locationwp> commandlist = new List <Locationwp>();
try
{
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
bool use_supportfence = (port.MAV.cs.capabilities & (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.MISSION_FENCE) > 0;
bool use_int = (port.MAV.cs.capabilities & (uint)MAVLink.MAV_PROTOCOL_CAPABILITY.MISSION_INT) > 0;
if (!use_supportfence && !port.MAV.mavlinkv2 && type != MAVLink.MAV_MISSION_TYPE.MISSION)
{
throw new Exception("Mission type only supported under mavlink2");
}
progress?.Invoke(0, "Getting WP count");
log.Info("Getting WP #");
int cmdcount = port.getWPCount(type);
for (ushort a = 0; a < cmdcount; a++)
{
log.Info("Getting WP" + a);
progress?.Invoke((a * 100) / cmdcount, "Getting WP " + a);
commandlist.Add(port.getWP(a, type));
}
port.setWPACK(type);
progress?.Invoke(100, "Done");
log.Info("Done");
}
catch (Exception ex)
{
log.Error(ex);
throw;
}
return(commandlist);
}