public GetServerVersion()
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 0,
Method = "getServerVersion",
args = new ArrayList {
}
};
}
public RotateToYaw(float yaw)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "rotateToYaw",
args = new ArrayList {
yaw, 600, 5, ""
}
};
}
public Land()
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "land",
args = new ArrayList {
60, ""
}
};
}
public WeatherEnable(bool enable)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "simEnableWeather",
args = new ArrayList {
enable
}
};
}
public WeatherSet(int weatherType, float intensity)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 0,
Method = "simSetWeatherParameter",
args = new ArrayList {
weatherType, intensity
}
};
}
public EnableApiControl()
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 0,
Method = "enableApiControl",
args = new ArrayList {
true, ""
}
};
}
public Takeoff()
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "takeoff",
args = new ArrayList {
5, ""
}
};
}
public ArmDisarm(bool arm)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "armDisarm",
args = new ArrayList {
arm, ""
}
};
}
public RotateByYawRate(float yawRate, float duration)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "rotateByYawRate",
args = new ArrayList {
yawRate, duration, ""
}
};
}
public Hover(float delay)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "hover",
args = new ArrayList {
delay *1000
}
};
}
public MultirotorState()
{
command = new MessagePackCommand()
{
Request = 0,
MessageId = 1,
Method = "getMultirotorState",
args = new ArrayList {
""
}
};
}
// Need to figure out how to use current xyz as reference for moveToPosition
public FlyForward(int distance)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "moveToPosition",
// x y z velocity
args = new ArrayList {
distance, 0, -10, 5, 60, 0, new YawMode {
is_rate = false, yaw_or_rate = 0
}, -1, 1, ""
}
};
}
public MoveByVelocity(float vx, float vy, float vz, float duration)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "moveByVelocity",
// x y z velocity
args = new ArrayList {
vx, vy, vz, duration, 0, new YawMode {
is_rate = false, yaw_or_rate = 0
}, ""
}
};
}
// Need to figure out how to use current xyz as reference for moveToPosition
public MoveToPosition(float xposition, float yposition, float zposition)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "moveToPosition",
// Setting timeout to 10 minutes for now
args = new ArrayList {
xposition, yposition, zposition, 5, 600, 0, new YawMode {
is_rate = false, yaw_or_rate = 0
}, -1, 1, ""
}
};
}
// x is north, y is east, z is down
public Wind(int x_vel, int y_vel, int z_vel)
{
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "simSetWind",
args = new ArrayList {
new Dictionary <string, int>()
{
{ "x_val", x_vel },
{ "y_val", y_vel },
{ "z_val", z_vel }
}
}
};
}
public MoveByRollPitchYaw(float roll, float pitch, float yaw, float duration)
{
// RPY will come in as degrees but should be converted to radians per the API
roll *= (float)(Math.PI / 180);
// These are negative per https://github.com/microsoft/AirSim/blob/master/PythonClient/airsim/client.py#L1028
pitch *= (float)(Math.PI / 180) * -1;
yaw *= (float)(Math.PI / 180) * -1;
command = new MessagePackCommand
{
Request = 0,
MessageId = 1,
Method = "moveByRollPitchYawZ",
// 4th param is Z and we set it to 0 for now
args = new ArrayList {
roll, pitch, yaw, 0, duration, ""
}
};
}
