/// <summary>
/// Initialise Values and Config Settings
///
/// </summary>
public WayPointUAV()
{
initialised = true;
// Verbinde mit Hardware
ConnectPeripherals();
// theta = The pitch in degrees relative to a plane(mathematical) normal to the earth radius line at the point the plane(aircraft) is at
// phi = The roll of the aircraft in degrees
// psi = The true heading of the aircraft in degrees
// Direkt Steuern in dem Wertänderungen soffort weitergeben werden
UAVStructure performanceData = new UAVStructure("PerformanceData", "");
performanceData.values.Add(new UAVParameter("MaxBankLeft", 10));
performanceData.values.Add(new UAVParameter("MaxBankRight", 10));
performanceData.values.Add(new UAVParameter("MaxDescendAngle", 10));
performanceData.values.Add(new UAVParameter("MaxClimbAngle", 10));
uavData.Add(performanceData);
BaseNavigation navi = new BaseNavigation("navi", (UAVCommons.UAVStructure)uavData["GPS"], performanceData);
WaypointMissionControl waypointMissionControl = new WaypointMissionControl(navi, "Mission Control");
pilot = new BaseAutoPilot("AP", navi, (UAVStructure)uavData["GPS"], (UAVStructure)uavData["AHRS"], performanceData);
navi.PassingWayPoint += new BaseNavigation.PassingWayPointHandler(navi_PassingWayPoint);
navi.ap = ((BaseAutoPilot)pilot);
BaseFlightStabilizer flightstabi = new FlightControlCommons.components.BaseFlightStabilizer("Flugstabilisierung", (UAVStructure)uavData["AHRS"], pilot, uavData["Querruder"], uavData["Seitenruder"], uavData["Höhenruder"]);
uavData.Add(waypointMissionControl);
uavData.Add(navi);
uavData.Add(flightstabi);
uavData.Add(pilot);
uavData.ValueChanged += new MonitoredDictionary<string, UAVParameter>.ValueChangedHandler(uavData_ValueChanged);
this.DataArrived += new DataArrivedHandler(RcUAV_DataArrived);
}
/// <summary>
/// Initialise Values and Config Settings
///
/// </summary>
public WayPointUAV()
{
initialised = true;
// Verbinde mit Hardware
ConnectPeripherals();
// theta = The pitch in degrees relative to a plane(mathematical) normal to the earth radius line at the point the plane(aircraft) is at
// phi = The roll of the aircraft in degrees
// psi = The true heading of the aircraft in degrees
// Direkt Steuern in dem Wertänderungen soffort weitergeben werden
UAVStructure performanceData = new UAVStructure("PerformanceData", "");
performanceData.values.Add(new UAVParameter("MaxBankLeft", 10));
performanceData.values.Add(new UAVParameter("MaxBankRight", 10));
performanceData.values.Add(new UAVParameter("MaxDescendAngle", 10));
performanceData.values.Add(new UAVParameter("MaxClimbAngle", 10));
uavData.Add(performanceData);
BaseNavigation navi = new BaseNavigation("navi", (UAVCommons.UAVStructure)uavData["GPS"], performanceData);
WaypointMissionControl waypointMissionControl = new WaypointMissionControl(navi, "Mission Control");
pilot = new BaseAutoPilot("AP", navi, (UAVStructure)uavData["GPS"], (UAVStructure)uavData["AHRS"], performanceData);
navi.PassingWayPoint += new BaseNavigation.PassingWayPointHandler(navi_PassingWayPoint);
navi.ap = ((BaseAutoPilot)pilot);
BaseFlightStabilizer flightstabi = new FlightControlCommons.components.BaseFlightStabilizer("Flugstabilisierung", (UAVStructure)uavData["AHRS"], pilot, uavData["Querruder"], uavData["Seitenruder"], uavData["Höhenruder"]);
uavData.Add(waypointMissionControl);
uavData.Add(navi);
uavData.Add(flightstabi);
uavData.Add(pilot);
uavData.ValueChanged += new MonitoredDictionary <string, UAVParameter> .ValueChangedHandler(uavData_ValueChanged);
this.DataArrived += new DataArrivedHandler(RcUAV_DataArrived);
}
