public static void evaluateCustomCommand(List <byte> bytes)
{
string cmd = Encoding.ASCII.GetString(bytes.ToArray());
switch (cmd)
{
case "#take_photo":
Camera.TakePhoto();
break;
case "#load_photo":
Camera.LoadPhoto();
break;
case "#autopilotON":
Autopilot.TakeControl();
break;
case "#autopilotOFF":
Autopilot.ReleaseControl();
break;
case "#dismiss":
Autopilot.Dismiss();
break;
case "#land":
Autopilot.Land();
break;
default:
Debug.WriteLine("Command not implemented: " + cmd);
break;
}
}
//private void returnToHomeToggle_Checked(object sender, RoutedEventArgs e)
//{
// /*if(gpsHoldToggle.IsChecked == true)
// gpsHoldToggle.IsChecked = false;*/
// aux3 = 1000;
// Debug.WriteLine("--------- RETURN TO HOME: ON ---------");
//}
//private void returnToHomeToggle_Unchecked(object sender, RoutedEventArgs e)
//{
// aux3 = 1500;
// Debug.WriteLine("--------- RETURN TO HOME: OFF ---------");
//}
private void takeOffLandToggle_Checked()
{
if (takeOffLandToggleTapped)
{
return;
}
Autopilot.TakeOff();
plusButton.IsEnabled = true;
minusButton.IsEnabled = true;
takeOffLandToggle.Source = new BitmapImage(new Uri("ms-appx:///Assets/Icons/land.png"));
takeOffLandToggleTapped = true;
}
private void takeOffLandToggle_Unchecked()
{
if (!takeOffLandToggleTapped)
{
return;
}
if (App.DroneType == DroneType.Custom && armToggle.IsChecked == true)
{
var cmd = Encoding.ASCII.GetBytes("#land");
Socket.SendData(cmd);
takeOffLandToggle.Opacity = 0.2;
}
else
{
Autopilot.Land();
}
plusButton.IsEnabled = false;
minusButton.IsEnabled = false;
takeOffLandToggleTapped = false;
}