static void GpsPositionReceived(object sender, EventArgs e)
{
if (sender is GPSPositionSensor && refPosition == null)
{
if ((int)((GPSPositionSensor)sender).Latitude.value != 0)
refPosition = (GPSPositionSensor)sender;
}
else if (sender is PositionState && refPosition != null)
{
PositionState pos = (PositionState)sender;
coords.Add(new SharpKml.Base.Vector(
Convert.ToDouble((int)refPosition.Latitude.value + (float)pos.East.value) / 10000000f,
Convert.ToDouble((int)refPosition.Longitude.value + (float)pos.North.value) / 10000000f,
Convert.ToDouble(140f - Convert.ToDouble(pos.Down.value)))
);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
public override UAVDataObject clone(long instID) {
// TODO: Need to get specific instance to clone
try {
GPSPositionSensor obj = new GPSPositionSensor();
obj.initialize(instID, this.getMetaObject());
return obj;
} catch (Exception) {
return null;
}
}
