private Task ArmedAndSignedIn(Models.FlightData flightData)
{
_messagesService.AddMessageAsync("Armed");
//return Task.FromResult(0);
return(null);
}
private async Task SendTelemetry(Models.FlightData flightData)
{
if (_settings.CurrentFlightId == null)
{
await _messagesService.AddMessageAsync(
new Message("Not sending telemetry as no current flight ID is set."));
return;
}
try
{
var lat = (float)flightData.CurrentPosition.Latitude;
var lon = (float)flightData.CurrentPosition.Longitude;
var alt = (ushort)flightData.CurrentPosition.Altitude;
var courseInRadians = flightData.CurrentPosition.Course / 180 * Math.PI;
var xVel = (float)(Math.Sin(courseInRadians) * flightData.CurrentPosition.Speed);
var yVel = (float)(Math.Cos(courseInRadians) * flightData.CurrentPosition.Speed);
var zVel = flightData.CurrentPosition.VerticalSpeed;
// Create dataStructure
var udpMessage = new UavPositionReport
{
GpsTimestamp = DateTime.UtcNow,
Pos = new Position(lat, lon, 0),
Alt = new Altitude(alt, AltitudeDatum.Agl, 1),
Velocity = new Velocity(xVel, yVel, zVel, 1),
IsAirborne = AirborneStatus.Airborne,
SatellitesVisible = 3
};
var telemetryId = Guid.Parse(_settings.CurrentTelemetryId);
var telemetry = new TelemetryEvent <UavPositionReport>(telemetryId, udpMessage)
{
SequenceNumber = _sequenceNumber
};
var message = string.Format($"Sending Telemetry {flightData.CurrentPosition.Latitude}, {flightData.CurrentPosition.Longitude}, {flightData.CurrentPosition.Altitude}");
await _messagesService.AddMessageAsync(new Message(message));
_client.SendTelemetry(telemetry, _settings.TelemetryHostName, _settings.TelemetryPortNumber, _settings.EncryptionKey);
_sequenceNumber += 1;
}
catch (Exception)
{
await _messagesService.AddMessageAsync(new Message("ERROR: Sending telemetry failed."));
}
}
private async Task SubmitFlightReport(Models.FlightData flightData)
{
if (!IsSignedIn)
{
return;
}
await _messagesService.AddMessageAsync(new Message($"ARMED: {flightData.CurrentPosition.Latitude},{flightData.CurrentPosition.Longitude}"));
if (!_settings.FlightReportEnable || _settings.CurrentFlightReportId != null)
{
return;
}
try
{
var centerPoint = new PointLatLng(flightData.CurrentPosition.Latitude,
flightData.CurrentPosition.Longitude);
var bufferedBoundingRadius = 500;
var flightPlan = _missionPlanner.GetFlightPlan();
if (flightPlan != null)
{
centerPoint.Lat = flightPlan.CenterLatitude;
centerPoint.Lng = flightPlan.CenterLongitude;
bufferedBoundingRadius = Math.Max(flightPlan.BoundingRadius + 50, bufferedBoundingRadius);
}
_settings.CurrentFlightReportId = await _client.CreateFlightReport(
_settings.FlightReportName,
_settings.FlightReportCommercial,
DateTime.Now,
DateTime.Now.Add(_settings.FlightReportTimeSpan),
centerPoint,
bufferedBoundingRadius);
await _messagesService.AddMessageAsync(new Message($"Flight plan {_settings.CurrentFlightReportId} created"));
await UpdateMapData(_missionPlanner.FlightDataMap);
}
catch (Exception ex)
{
await _messagesService.AddMessageAsync(new Message($"Creating flight plan failed. {ex}"));
}
}
private async Task CompleteFlightReport(Models.FlightData flightData)
{
await _messagesService.AddMessageAsync(new Message($"DISARMED: {flightData.CurrentPosition.Latitude},{flightData.CurrentPosition.Longitude}"));
if (_settings.CurrentFlightReportId == null)
{
return;
}
try
{
await _client.CompleteFlightReport(_settings.CurrentFlightReportId);
_settings.CurrentFlightReportId = null;
await _messagesService.AddMessageAsync(new Message($"Flight plan {_settings.CurrentFlightReportId} marked as complete"));
await UpdateMapData(_missionPlanner.FlightDataMap);
}
catch (Exception ex)
{
await _messagesService.AddMessageAsync(new Message($"Marking flight plan {_settings.CurrentFlightReportId} as complete failed. {ex}"));
}
}
private Task FlightDisarmed(Models.FlightData flightData)
{
_sequenceNumber = 0;
return(Task.CompletedTask);
}
private void DisarmedAndSignedIn(Models.FlightData flightData)
{
_messagesService.AddMessageAsync("Disarmed.");
}