public static void ReadParameter(string name, bool retry = true) { byte[] paramID; MAVLink.mavlink_param_request_read_t req = new MAVLink.mavlink_param_request_read_t(); req.target_system = 0; req.target_component = 0; if (CDatacenter.knownParametersIndex.ContainsKey(name)) { paramID = ASCIIEncoding.ASCII.GetBytes("\0"); Array.Resize(ref paramID, 16); req.param_id = paramID; req.param_index = (short)CDatacenter.knownParametersIndex[name]; } else { paramID = ASCIIEncoding.ASCII.GetBytes(name + "\0"); // I'm not sure why this is needed, but it is Array.Resize(ref paramID, 16); req.param_id = paramID; req.param_index = -1; } byte[] bytes = mavlink.GenerateMAVLinkPacket(MAVLink.MAVLINK_MSG_ID.PARAM_REQUEST_READ, req); if (retry) { SendWaitRetry(bytes, typeof(MAVLink.mavlink_param_value_t)); } else { SendPacket(bytes); } }
/// <summary> /// Request the value of a data scan from the Pi. /// </summary> /// <returns></returns> public static void ReadMavLinkSNR() { //Setting IF Gain ID byte[] paramid = new byte[16]; paramid[0] = (byte)'V'; paramid[1] = (byte)'H'; paramid[2] = (byte)'F'; paramid[3] = (byte)'_'; paramid[4] = (byte)'S'; paramid[5] = (byte)'N'; paramid[6] = (byte)'R'; paramid[7] = (byte)'\0'; MAVLink.mavlink_param_request_read_t getSNR = new MAVLink.mavlink_param_request_read_t(); getSNR.target_system = (byte)system_id; //Drone getSNR.target_component = (byte)comp_id; //Pi getSNR.param_index = (byte)4; getSNR.param_id = paramid; MavLinkCom.sendPacket(getSNR, MavLinkCom.sysidcurrent, MavLinkCom.compidcurrent); }
private void LogPacket(object packet, bool ingoing, int sysId, int compId) { if (threadDone) { return; } if (listViewMessages.InvokeRequired) { try { listViewMessages.Invoke(new Action <object, bool, int, int>(LogPacket), packet, ingoing, sysId, compId); } catch { }; return; } List <string> fields = new List <string>(); fields.Add(sysId.ToString()); fields.Add(compId.ToString()); if ((ingoing && !checkBoxIngoing.Checked) || (!ingoing && !checkBoxOutgoing.Checked)) { return; } string messageName = packet.ToString().Replace("MAVLink+mavlink_", ""); if (IsMessageFilteredOut(messageName)) { return; } if (listViewMessages.IsDisposed) { return; } if (packet.GetType() == typeof(MAVLink.mavlink_gps_raw_int_t)) { MAVLink.mavlink_gps_raw_int_t gps = (MAVLink.mavlink_gps_raw_int_t)packet; fields.Add("GPS Raw Int"); fields.Add(((double)gps.lat / 10000000).ToString()); fields.Add(((double)gps.lon / 10000000).ToString()); fields.Add(gps.alt.ToString()); fields.Add(gps.vel.ToString()); fields.Add(gps.satellites_visible.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_global_position_int_t)) { MAVLink.mavlink_global_position_int_t gps = (MAVLink.mavlink_global_position_int_t)packet; fields.Add("GPS Global Position Int"); fields.Add(((double)gps.lat / 10000000).ToString()); fields.Add(((double)gps.lon / 10000000).ToString()); fields.Add(gps.alt.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_attitude_t)) { MAVLink.mavlink_attitude_t att = (MAVLink.mavlink_attitude_t)packet; fields.Add("Attitude"); fields.Add((att.pitch * 180.0 / Math.PI).ToString()); fields.Add((att.roll * 180.0 / Math.PI).ToString()); fields.Add((att.yaw * 180.0 / Math.PI).ToString()); fields.Add((att.pitchspeed * 180.0 / Math.PI).ToString()); fields.Add((att.rollspeed * 180.0 / Math.PI).ToString()); fields.Add((att.yawspeed * 180.0 / Math.PI).ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu_t)) { MAVLink.mavlink_scaled_imu_t imu = (MAVLink.mavlink_scaled_imu_t)packet; fields.Add("Scaled IMU"); fields.Add(imu.xmag.ToString()); fields.Add(imu.ymag.ToString()); fields.Add(imu.zmag.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu3_t)) { MAVLink.mavlink_scaled_imu3_t imu = (MAVLink.mavlink_scaled_imu3_t)packet; fields.Add("Scaled IMU3"); fields.Add(imu.xmag.ToString()); fields.Add(imu.ymag.ToString()); fields.Add(imu.zmag.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_scaled_imu2_t)) { MAVLink.mavlink_scaled_imu2_t imu = (MAVLink.mavlink_scaled_imu2_t)packet; fields.Add("Scaled IMU2"); fields.Add(imu.xmag.ToString()); fields.Add(imu.ymag.ToString()); fields.Add(imu.zmag.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_sys_status_t)) { MAVLink.mavlink_sys_status_t status = (MAVLink.mavlink_sys_status_t)packet; fields.Add("System Status"); fields.Add(status.voltage_battery.ToString()); } // else if (packet.GetType() == typeof(MAVLink.mavlink_autopilot_version_t)) // { // MAVLink.mavlink_autopilot_version_t ver = (MAVLink.mavlink_autopilot_version_t)packet; // listViewMessages.Items.Add(new ListViewItem(new string[] { // "Autopilot Version", // ver.version.ToString(), // ver.custom_version.ToString(), // ver.capabilities.ToString()})); // } else if (packet.GetType() == typeof(MAVLink.mavlink_heartbeat_t)) { MAVLink.mavlink_heartbeat_t hb = (MAVLink.mavlink_heartbeat_t)packet; fields.Add("Heartbeat"); fields.Add(hb.autopilot.ToString()); fields.Add(hb.system_status.ToString()); fields.Add(hb.mavlink_version.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_statustext_t)) { MAVLink.mavlink_statustext_t status = (MAVLink.mavlink_statustext_t)packet; fields.Add("Status Text"); fields.Add(ASCIIEncoding.ASCII.GetString(status.text)); fields.Add(status.severity.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_param_value_t)) { MAVLink.mavlink_param_value_t paramValue = (MAVLink.mavlink_param_value_t)packet; fields.Add("Param Value"); fields.Add(ASCIIEncoding.ASCII.GetString(paramValue.param_id)); fields.Add(paramValue.param_value.ToString()); fields.Add(paramValue.param_count.ToString()); fields.Add(paramValue.param_index.ToString()); fields.Add(paramValue.param_type.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_param_request_read_t)) { MAVLink.mavlink_param_request_read_t paramReq = (MAVLink.mavlink_param_request_read_t)packet; fields.Add("Param Request Read"); fields.Add(ASCIIEncoding.ASCII.GetString(paramReq.param_id)); } else if (packet.GetType() == typeof(MAVLink.mavlink_param_set_t)) { MAVLink.mavlink_param_set_t paramSet = (MAVLink.mavlink_param_set_t)packet; fields.Add("Param Set"); fields.Add(ASCIIEncoding.ASCII.GetString(paramSet.param_id)); fields.Add(paramSet.param_value.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_mission_count_t)) { MAVLink.mavlink_mission_count_t paramValue = (MAVLink.mavlink_mission_count_t)packet; fields.Add("Mission Count"); fields.Add(paramValue.count.ToString()); fields.Add(paramValue.target_component.ToString()); fields.Add(paramValue.target_system.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_mission_item_t)) { MAVLink.mavlink_mission_item_t item = (MAVLink.mavlink_mission_item_t)packet; fields.Add("Mission Item"); fields.Add(item.seq.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_mission_request_t)) { MAVLink.mavlink_mission_request_t item = (MAVLink.mavlink_mission_request_t)packet; fields.Add("Mission Request Item"); fields.Add(item.seq.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_command_ack_t)) { MAVLink.mavlink_command_ack_t paramValue = (MAVLink.mavlink_command_ack_t)packet; fields.Add("Ack"); fields.Add(((MAVLink.MAV_CMD)paramValue.command).ToString()); fields.Add(((MAVLink.MAV_RESULT)paramValue.result).ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_mission_ack_t)) { MAVLink.mavlink_mission_ack_t paramValue = (MAVLink.mavlink_mission_ack_t)packet; fields.Add("Mission Ack"); fields.Add(paramValue.type.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_radio_status_t)) { MAVLink.mavlink_radio_status_t radio = (MAVLink.mavlink_radio_status_t)packet; fields.Add("Radio Status"); fields.Add(radio.rssi.ToString()); fields.Add(radio.remrssi.ToString()); } else if (packet.GetType() == typeof(MAVLink.mavlink_ekf_status_report_t)) { MAVLink.mavlink_ekf_status_report_t ekf = (MAVLink.mavlink_ekf_status_report_t)packet; fields.Add("EKF Status"); fields.Add(ekf.flags.ToString()); fields.Add(ekf.velocity_variance.ToString()); fields.Add(ekf.pos_horiz_variance.ToString()); fields.Add(ekf.pos_vert_variance.ToString()); fields.Add(ekf.compass_variance.ToString()); fields.Add(ekf.terrain_alt_variance.ToString()); } else { fields.Add(messageName); //Log(packet.ToString()); } if (ingoing) { listViewMessages.Items.Add(INGOING(new ListViewItem(fields.ToArray()))); } else { listViewMessages.Items.Add(OUTGOING(new ListViewItem(fields.ToArray()))); } }