private void updateInstrument(AltimeterInstrumentControl control, ARDrone.Control.ARDroneControl.DroneData droneData)
{
control.Invoke((MethodInvoker) delegate
{
control.SetAlimeterParameters(droneData.Altitude);
});
}
private void updateInstrument(AttitudeIndicatorInstrumentControl control, ARDrone.Control.ARDroneControl.DroneData droneData)
{
control.Invoke((MethodInvoker) delegate
{
control.SetAttitudeIndicatorParameters((droneData.Theta / 1000), -(droneData.Phi / 1000));
});
}
private void updateInstrument(HeadingIndicatorInstrumentControl control, ARDrone.Control.ARDroneControl.DroneData droneData)
{
control.Invoke((MethodInvoker) delegate
{
// Psi range -180..0..180 but heading indicator require 0..360
if (droneData.Psi > 0)
{
control.SetHeadingIndicatorParameters(Convert.ToInt32(droneData.Psi / 1000));
}
else
{
control.SetHeadingIndicatorParameters(360 + Convert.ToInt32(droneData.Psi / 1000));
}
});
}
private void updateInstruments()
{
if (this.arDroneControl.IsConnected)
{
ARDrone.Control.ARDroneControl.DroneData droneData = arDroneControl.GetCurrentDroneData();
foreach (InstrumentControl instrumentControl in instrumentList)
{
try
{
switch (instrumentControl.GetType().Name)
{
case "AttitudeIndicatorInstrumentControl":
updateInstrument((AttitudeIndicatorInstrumentControl)instrumentControl, droneData);
break;
case "AltimeterInstrumentControl":
updateInstrument((AltimeterInstrumentControl)instrumentControl, droneData);
break;
case "HeadingIndicatorInstrumentControl":
updateInstrument((HeadingIndicatorInstrumentControl)instrumentControl, droneData);
break;
case "VerticalSpeedIndicatorInstrumentControl":
updateInstrument((VerticalSpeedIndicatorInstrumentControl)instrumentControl, droneData);
break;
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
this.stopManage();
}
}
}
}
private void updateInstrument(VerticalSpeedIndicatorInstrumentControl control, ARDrone.Control.ARDroneControl.DroneData droneData)
{
control.Invoke((MethodInvoker) delegate
{
control.SetVerticalSpeedIndicatorParameters(Convert.ToInt32(droneData.vZ));
});
}