private void _transport_OnMessageReceived(object sender, UasMessage arg)
{
switch (arg.MessageId)
{
case UasMessages.Statustext:
var stat = arg as UasStatustext;
var message = new String(stat.Text);
if (message.ToLower().Contains("calibration successful") || message.ToLower().Contains("calibration failed"))
{
IsDone = true;
IsActive = false;
DoneCommand.RaiseCanExecuteChanged();
UserMessage = message;
}
break;
case UasMessages.CommandLong:
var cmd = arg as UasCommandLong;
if (cmd.Command == (ushort)MavCmd.AccelcalVehiclePos)
{
var pos = (AccelcalVehiclePos)cmd.Param1;
UserMessage = "Please place vehicle " + pos.ToString();
}
break;
}
}
public void Done()
{
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 2, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}
public void Next()
{
if (IsActive)
{
var ack = new UasCommandAck()
{
TargetComponent = _connectedUasManager.Active.Uas.ComponentId,
TargetSystem = _connectedUasManager.Active.Uas.SystemId,
Command = 1,
Result = 1,
};
_connectedUasManager.Active.Transport.SendMessage(ack);
}
_connectedUasManager.Active.Transport.SendMessage(UasCommands.PreflightCalibration(_connectedUasManager.Active.Uas.SystemId, _connectedUasManager.Active.Uas.ComponentId, 0, 0, 0, 0, 1, 0, 0));
BeginCommand.RaiseCanExecuteChanged();
CancelCommand.RaiseCanExecuteChanged();
DoneCommand.RaiseCanExecuteChanged();
NextCommand.RaiseCanExecuteChanged();
}