public static void Abort()
{
locked = true;
basicTurnOnThread.Abort();
basicTurnOffThread.Abort();
basicTakeOffThread.Abort();
basicLandThread.Abort();
basicRotateRightThread.Abort();
basicRotateLeftThread.Abort();
basicUpThread.Abort();
basicDownThread.Abort();
basicStraightRightThread.Abort();
basicStraightLeftThread.Abort();
basicForwardThread.Abort();
basicBackwardThread.Abort();
BasicFunctions.disarm();
BasicFunctions.arm();
basicTurnOnThread = new System.Threading.Thread(basicmission_turnOn);
basicTurnOffThread = new System.Threading.Thread(basicmission_turnOff);
basicTakeOffThread = new System.Threading.Thread(basicmission_takeOff);
basicLandThread = new System.Threading.Thread(basicmission_land);
basicRotateRightThread = new System.Threading.Thread(basicmission_rotateRight);
basicRotateLeftThread = new System.Threading.Thread(basicmission_rotateLeft);
basicUpThread = new System.Threading.Thread(basicmission_up);
basicDownThread = new System.Threading.Thread(basicmission_down);
basicStraightRightThread = new System.Threading.Thread(basicmission_straightRight);
basicStraightLeftThread = new System.Threading.Thread(basicmission_straightLeft);
basicForwardThread = new System.Threading.Thread(basicmission_forward);
basicBackwardThread = new System.Threading.Thread(basicmission_backward);
missionDemo1Thread = new System.Threading.Thread(mission_demo1);
locked = false;
}
public static Boolean turnOn_turnOff(Boolean on)
{
Boolean armed = BasicFunctions.channelsActualValues[4] == 2000;
Boolean result = false;
if (armed && !on)
{
result = BasicFunctions.disarm();
}
if (!armed && on)
{
result = BasicFunctions.arm();
}
return(result);
}
public static Boolean land()
{
Boolean result = false;
Boolean condition = false;
Boolean armed = BasicFunctions.channelsActualValues[4] == 2000;
int throttleValue = BasicFunctions.channelsActualValues[3];
condition = armed && throttleValue > 1000;
while (condition)
{
throttleValue -= 50;
if (throttleValue <= 1000)
{
throttleValue = 1000;
result = BasicFunctions.throttle(throttleValue);
break;
}
result = BasicFunctions.throttle(throttleValue);
Thread.Sleep(500);
}
return(result);
}
public static Boolean rotateRight(int seconds)
{
Boolean result = false;
Boolean condition = false;
Boolean armed = BasicFunctions.channelsActualValues[4] == 2000;
double executionTime = seconds * 1000;
int yawValue = BasicFunctions.channelsActualValues[2];
int throttleValue = BasicFunctions.channelsActualValues[3];
condition = armed && throttleValue > 1000;
Boolean actualYawMajor = yawValue > 1700;
Boolean actualYawMinor = yawValue < 1700;
DateTime start = DateTime.Now;
while (condition && actualYawMajor)
{
Thread.Sleep(300);
yawValue -= 50;
if (yawValue <= 1700)
{
yawValue = 1700;
actualYawMajor = false;
DateTime end = DateTime.Now;
executionTime -= (end - start).TotalMilliseconds;
}
result = BasicFunctions.yaw(yawValue);
}
if (executionTime <= 0)
{
while (true)
{
Thread.Sleep(300);
yawValue -= 50;
if (yawValue <= 1500)
{
yawValue = 1500;
result = BasicFunctions.yaw(yawValue);
break;
}
result = BasicFunctions.yaw(yawValue);
}
return(result);
}
start = DateTime.Now;
while (condition && actualYawMinor)
{
Thread.Sleep(300);
yawValue += 50;
if (yawValue >= 1700)
{
yawValue = 1700;
actualYawMinor = false;
DateTime end = DateTime.Now;
executionTime -= (end - start).TotalMilliseconds;
}
result = BasicFunctions.yaw(yawValue);
}
if (executionTime <= 0)
{
while (true)
{
Thread.Sleep(300);
yawValue -= 50;
if (yawValue <= 1500)
{
yawValue = 1500;
result = BasicFunctions.yaw(yawValue);
break;
}
result = BasicFunctions.yaw(yawValue);
}
return(result);
}
Thread.Sleep(Convert.ToInt32(executionTime));
while (true)
{
Thread.Sleep(300);
yawValue -= 50;
if (yawValue <= 1500)
{
yawValue = 1500;
result = BasicFunctions.yaw(yawValue);
break;
}
result = BasicFunctions.yaw(yawValue);
}
return(result);
}
public static Boolean down(int seconds)
{
Boolean result = false;
Boolean condition = false;
Boolean armed = BasicFunctions.channelsActualValues[4] == 2000;
double executionTime = seconds * 1000;
int throttleValue = BasicFunctions.channelsActualValues[3];
int minThrottleValue = throttleValue - 200;
condition = armed && throttleValue > 1000;
if (throttleValue == 2000)
{
return(false);
}
if (minThrottleValue < 1150)
{
minThrottleValue = 1150;
}
DateTime start = DateTime.Now;
while (condition)
{
Thread.Sleep(300);
throttleValue -= 50;
if (throttleValue <= minThrottleValue)
{
throttleValue = minThrottleValue;
DateTime end = DateTime.Now;
executionTime -= (end - start).TotalMilliseconds;
result = BasicFunctions.throttle(throttleValue);
break;
}
result = BasicFunctions.throttle(throttleValue);
}
if (executionTime <= 0)
{
while (true)
{
Thread.Sleep(300);
throttleValue += 50;
if (throttleValue >= minThrottleValue + 200)
{
throttleValue = minThrottleValue + 200;
result = BasicFunctions.throttle(throttleValue);
break;
}
result = BasicFunctions.throttle(throttleValue);
}
return(result);
}
Thread.Sleep(Convert.ToInt32(executionTime));
while (true)
{
Thread.Sleep(300);
throttleValue += 50;
if (throttleValue <= minThrottleValue + 200)
{
throttleValue = minThrottleValue + 200;
result = BasicFunctions.throttle(throttleValue);
break;
}
result = BasicFunctions.throttle(throttleValue);
}
return(result);
}
