public MotionViewModel(FlightControlConnection connection)
{
// Register handler for the orientation update
connection.RegisterHandler("ROT", rot =>
{
UpdateFrequency = updateFrequencyCounter.Tick();
Rotation = new Quaternion(
double.Parse(rot[0], CultureInfo.InvariantCulture),
double.Parse(rot[1], CultureInfo.InvariantCulture),
double.Parse(rot[2], CultureInfo.InvariantCulture),
double.Parse(rot[3], CultureInfo.InvariantCulture));
;
});
// Register handler for the heading update
connection.RegisterHandler("HEAD", head =>
{
Heading = new Quaternion(
double.Parse(head[0], CultureInfo.InvariantCulture),
double.Parse(head[1], CultureInfo.InvariantCulture),
double.Parse(head[2], CultureInfo.InvariantCulture),
double.Parse(head[3], CultureInfo.InvariantCulture));
});
connection.RegisterHandler("OFFSET", offset =>
{
AngularOffset.Yaw = double.Parse(offset[0], CultureInfo.InvariantCulture);
AngularOffset.Pitch = double.Parse(offset[1], CultureInfo.InvariantCulture);
AngularOffset.Roll = double.Parse(offset[2], CultureInfo.InvariantCulture);
});
_engines = new List<EngineViewModel>
{
new EngineViewModel(5, 10, 10),
new EngineViewModel(6, 10, -10),
new EngineViewModel(9, -10, -10),
new EngineViewModel(10, -10, 10)
};
var enginesByPin = _engines.ToDictionary(e => e.Pin);
connection.RegisterHandler("ENG", eng =>
{
var pin = int.Parse(eng[0]);
enginesByPin[pin].Power = int.Parse(eng[1]);
});
ResetCamera = new RelayCommand(() => CameraRotation = Rotation); // * new Quaternion(0, 0, 1, 0));
AngularOffset = new EulerAngles();
}
public ControlViewModel(FlightControlConnection connection)
{
this.connection = connection;
}