public void Update(InputManager manager)
{
try
{
if (!IsConnected)
{
return;
}
currentState = controller.GetState();
if (CheckButtonPressed(GamepadButtonFlags.A))
{
manager.SendClear();
}
if (CheckButtonPressed(GamepadButtonFlags.B))
{
manager.StopDrone();
}
if (CheckButtonPressed(GamepadButtonFlags.Y))
{
manager.ToogleArmStatus();
}
float deadZone = 0.075f;
if (!manager.DeadZone)
{
deadZone = 0;
}
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.Gamepad.RightThumbX, short.MaxValue, deadZone);
target.Pitch = -DeadZone.Compute(currentState.Gamepad.RightThumbY, short.MaxValue, deadZone);
target.Yaw = DeadZone.Compute(currentState.Gamepad.LeftThumbX, short.MaxValue, deadZone);
target.Thrust = DeadZone.Compute(currentState.Gamepad.LeftThumbY + short.MaxValue, short.MaxValue * 2, deadZone);
float x = GetButtonValue(GamepadButtonFlags.DPadRight) - GetButtonValue(GamepadButtonFlags.DPadLeft);
float y = -GetButtonValue(GamepadButtonFlags.DPadDown) - GetButtonValue(GamepadButtonFlags.DPadUp);
target.Roll += x * 0.1f;
target.Pitch += y * 0.1f;
manager.SendTargetData(target);
lastState = currentState;
firstUpdate = false;
HasError = false;
}
catch (Exception e)
{
HasError = true;
Log.Error(e);
}
}
public void Update(InputManager manager)
{
try
{
if (!UpdateState())
{
return;
}
if (CheckButtonPressed(2))
{
manager.SendClear();
}
if (CheckButtonPressed(1))
{
manager.StopDrone();
}
if (CheckButtonPressed(0))
{
manager.ArmDrone();
}
if (CheckButtonReleased(0))
{
manager.DisarmDrone();
}
float deadZone = 0.075f;
if (!manager.DeadZone)
{
deadZone = 0;
}
const int maxValue = UInt16.MaxValue / 2;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.X - maxValue, maxValue, deadZone);
target.Pitch = DeadZone.Compute(currentState.Y - maxValue, maxValue, deadZone);
target.Yaw = DeadZone.Compute(currentState.RotationZ - maxValue, maxValue, deadZone);
target.Thrust = DeadZone.Compute(UInt16.MaxValue - currentState.Z, UInt16.MaxValue, deadZone);
manager.SendTargetData(target);
lastState = currentState;
HasError = false;
}
catch (Exception e)
{
HasError = true;
Log.Error(e);
}
}
