public Task WriteMissionItem(MavFrame frame, MavCmd cmd, bool current, bool autoContinue, float param1, float param2, float param3, float param4, float x, float y, float z, MavMissionType missionType, int attemptCount, CancellationToken cancel) { var packet = new MissionItemPacket() { ComponenId = _identity.ComponentId, SystemId = _identity.SystemId, Sequence = _seq.GetNextSequenceNumber(), Payload = { TargetComponent = _identity.TargetComponentId, TargetSystem = _identity.TargetSystemId, Seq = 0, Frame = frame, Command = cmd, Current = (byte)(current ? 2:0), Autocontinue = (byte)(autoContinue? 1:0), Param1 = param1, Param2 = param2, Param3 = param3, Param4 = param4, X = x, Y = y, Z = z, MissionType = missionType } }; return(_mavlink.Send(packet, cancel)); }
public Task MissionItem(MavFrame frame, MavCmd cmd, bool current, bool autoContinue, float param1, float param2, float param3, float param4, float x, float y, float z, MavMissionType missionType, int attemptCount, CancellationToken cancel) { var packet = new MissionItemPacket() { ComponenId = _config.ComponentId, SystemId = _config.SystemId, Payload = { TargetComponent = _config.TargetComponenId, TargetSystem = _config.TargetSystemId, Seq = 0, Frame = frame, Command = cmd, Current = 2, Autocontinue = (byte)(autoContinue? 1:0), Param1 = param1, Param2 = param2, Param3 = param3, Param4 = param4, X = x, Y = y, Z = 20, MissionType = missionType } }; _mavlink.Send(packet, cancel); return(Task.CompletedTask); }