private void Init_Mission_Click(object sender, Windows.UI.Xaml.RoutedEventArgs e)
{
WaypointMissionFinishedAction finishedAction = (WaypointMissionFinishedAction)Enum.Parse(typeof(WaypointMissionFinishedAction), finishedCombo.SelectedIndex.ToString());
WaypointMissionHeadingMode headingMode = (WaypointMissionHeadingMode)Enum.Parse(typeof(WaypointMissionHeadingMode), ((ComboBoxItem)headingCombo.SelectedItem).Tag.ToString());
init_mission(Int32.Parse(speedTextBox.Text), finishedAction, headingMode);
int heading;
bool success = Int32.TryParse(headingTextBox.Text, out heading);
if (success && heading > 180)
{
heading = heading - 360;
}
WaypointTurnMode turnMode = (WaypointTurnMode)Enum.Parse(typeof(WaypointTurnMode), turnCombo.SelectedIndex.ToString());
Waypoint waypoint = InitDumpWaypoint(telemetry.gps_location.latitude + 0.00003, telemetry.gps_location.longitude, Double.Parse(altitudeTextBox.Text), turnMode, heading, Int32.Parse(speedTextBox.Text));
mission.waypoints.Add(waypoint);
RedrawWaypoint();
int a = 0;
}
private void Add_Waypoint_Click(object sender, Windows.UI.Xaml.RoutedEventArgs e)
{
if (missionCreated)
{
var lastWaypoint = mission.waypoints[mission.waypoints.Count - 1];
var altitude = Double.Parse(altitudeTextBox.Text);
if (currentWaypoint.Latitude != lastWaypoint.location.latitude || currentWaypoint.Longitude != lastWaypoint.location.longitude ||
altitude != lastWaypoint.altitude)
{
int heading;
bool success = Int32.TryParse(headingTextBox.Text, out heading);
if (success && heading > 180)
{
heading = heading - 360;
}
WaypointTurnMode turnMode = (WaypointTurnMode)Enum.Parse(typeof(WaypointTurnMode), turnCombo.SelectedIndex.ToString());
Waypoint waypoint = InitDumpWaypoint(currentWaypoint.Latitude, currentWaypoint.Longitude, altitude, turnMode, heading, Int32.Parse(speedTextBox.Text));
mission.waypoints.Add(waypoint);
MapLat.Text = "";
MapLon.Text = "";
RedrawWaypoint();
}
}
}
private Waypoint InitDumpWaypoint(double latitude, double longitude, double altitude, WaypointTurnMode turnMode, int heading, double speed)
{
Waypoint waypoint = new Waypoint()
{
location = new LocationCoordinate2D()
{
latitude = latitude, longitude = longitude
},
altitude = altitude,
gimbalPitch = -90,
turnMode = turnMode,
heading = heading,
actionRepeatTimes = 1,
actionTimeoutInSeconds = 900,
cornerRadiusInMeters = 0.2,
speed = speed,
shootPhotoTimeInterval = -1,
shootPhotoDistanceInterval = -1,
waypointActions = new List <WaypointAction>()
};
return(waypoint);
}
