private void button1_Click(object sender, EventArgs e)
{
if (string.IsNullOrEmpty(mCbxPort.Text))
{
return;
}
if (string.IsNullOrEmpty(mCbxBandrate.Text))
{
return;
}
try
{
_mMavLink = new MavLinkSerialPortTransport
{
BaudRate = Convert.ToInt32(mCbxBandrate.Text),
SerialPortName = mCbxPort.Text,
MavlinkSystemId = 0xFF,
MavlinkComponentId = 0xBE
};
_mMavLink.OnPacketReceived += OnMavLinkPacketReceived;
_mMavLink.Initialize();
}
catch (Exception)
{
MessageBox.Show(@"通信接口初始化失败！");
return;
}
_mMavLink.BeginHeartBeatLoop();
button1.Enabled = false;
button2.Enabled = true;
}
public void ConnectMavlinkSerial(string port, int baudrate)
{
MavSerialTransport.MavlinkSystemId = 1;
MavSerialTransport.MavlinkComponentId = 12;
MavSerialTransport.SerialPortName = port;
MavSerialTransport.BaudRate = baudrate;
MavSerialTransport.Initialize();
MavSerialTransport.OnPacketReceived += OnMavLinkPacketReceived;
}
private void btnConnect_Click(object sender, EventArgs e)
{
mluc.SerialPortName = "COM22";
mluc.BaudRate = 57600;
mluc.HeartBeatUpdateRateMs = 1000;
mluc.OnPacketReceived += OnMavLinkPacketReceived;
mluc.Initialize();
mluc.BeginHeartBeatLoop();
pnlConnect.BackColor = Color.ForestGreen;
lblConnect.Text = "Connected";
btnConnect.Enabled = false;
}