private void Starttakeoff_Click(object sender, RoutedEventArgs e)
{
DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartTakeoffAsync();
GimbalAngleRotation camera_angle = new GimbalAngleRotation();
camera_angle.mode = GimbalAngleRotationMode.ABSOLUTE_ANGLE;
camera_angle.pitch = -90;
camera_angle.pitchIgnored = false;
camera_angle.rollIgnored = true;
camera_angle.yawIgnored = true;
camera_angle.duration = 1;
DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(camera_angle);
//var pos0 = DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GetAircraftLocationAsync();
//x0 = pos0.Result.value.Value.latitude;
//y0 = pos0.Result.value.Value.longitude;
var z0 = DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).GetAltitudeAsync();
System.Diagnostics.Debug.WriteLine("z0:{0}", z0);
}
private async void Grid_KeyDown(object sender, KeyRoutedEventArgs e)
{
switch (e.Key)
{
case Windows.System.VirtualKey.W:
{
throttle += 0.02f;
if (throttle > 0.5f)
{
throttle = 0.5f;
}
break;
}
case Windows.System.VirtualKey.S:
{
throttle -= 0.02f;
if (throttle < -0.5f)
{
throttle = -0.5f;
}
break;
}
case Windows.System.VirtualKey.A:
{
yaw -= 0.05f;
if (yaw > 0.5f)
{
yaw = 0.5f;
}
break;
}
case Windows.System.VirtualKey.D:
{
yaw += 0.05f;
if (yaw < -0.5f)
{
yaw = -0.5f;
}
break;
}
case Windows.System.VirtualKey.I:
{
pitch += 0.05f;
if (pitch > 0.5)
{
pitch = 0.5f;
}
break;
}
case Windows.System.VirtualKey.K:
{
pitch -= 0.05f;
if (pitch < -0.5f)
{
pitch = -0.5f;
}
break;
}
case Windows.System.VirtualKey.J:
{
roll -= 0.05f;
if (roll < -0.5f)
{
roll = -0.5f;
}
break;
}
case Windows.System.VirtualKey.L:
{
roll += 0.05f;
if (roll > 0.5)
{
roll = 0.5f;
}
break;
}
case Windows.System.VirtualKey.Number0:
{
GimbalAngleRotation rotation = new GimbalAngleRotation()
{
mode = GimbalAngleRotationMode.RELATIVE_ANGLE,
pitch = 45,
roll = 45,
yaw = 45,
pitchIgnored = false,
yawIgnored = false,
rollIgnored = false,
duration = 0.5
};
System.Diagnostics.Debug.Write("pitch = 45\n");
// Defined somewhere else
var gimbalHandler = DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0);
//angle
var gimbalRotation = new GimbalAngleRotation();
gimbalRotation.pitch = 45;
gimbalRotation.pitchIgnored = false;
gimbalRotation.duration = 5;
await gimbalHandler.RotateByAngleAsync(gimbalRotation);
//Speed
var gimbalRotation_speed = new GimbalSpeedRotation();
gimbalRotation_speed.pitch = 10;
await gimbalHandler.RotateBySpeedAsync(gimbalRotation_speed);
await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(rotation);
break;
}
case Windows.System.VirtualKey.P:
{
GimbalAngleRotation rotation = new GimbalAngleRotation()
{
mode = GimbalAngleRotationMode.RELATIVE_ANGLE,
pitch = 45,
roll = 45,
yaw = 45,
pitchIgnored = false,
yawIgnored = false,
rollIgnored = false,
duration = 0.5
};
System.Diagnostics.Debug.Write("pitch = 45\n");
// Defined somewhere else
var gimbalHandler = DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0);
//Speed
var gimbalRotation_speed = new GimbalSpeedRotation();
gimbalRotation_speed.pitch = -10;
await gimbalHandler.RotateBySpeedAsync(gimbalRotation_speed);
await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).RotateByAngleAsync(rotation);
break;
}
}
try
{
if (DJISDKManager.Instance != null)
{
DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(throttle, yaw, pitch, roll);
}
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine(err);
}
}