/*
* <enum name="MAV_DATA_STREAM">
* <entry value="0" name="MAV_DATA_STREAM_ALL">
* <description>Enable all data streams</description>
* </entry>
* <entry value="1" name="MAV_DATA_STREAM_RAW_SENSORS">
* <description>Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.</description>
* </entry>
* <entry value="2" name="MAV_DATA_STREAM_EXTENDED_STATUS">
* <description>Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS</description>
* </entry>
* <entry value="3" name="MAV_DATA_STREAM_RC_CHANNELS">
* <description>Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW</description>
* </entry>
* <entry value="4" name="MAV_DATA_STREAM_RAW_CONTROLLER">
* <description>Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.</description>
* </entry>
* <entry value="6" name="MAV_DATA_STREAM_POSITION">
* <description>Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.</description>
* </entry>
* <entry value="10" name="MAV_DATA_STREAM_EXTRA1">
* <description>Dependent on the autopilot</description>
* </entry>
* <entry value="11" name="MAV_DATA_STREAM_EXTRA2">
* <description>Dependent on the autopilot</description>
* </entry>
* <entry value="12" name="MAV_DATA_STREAM_EXTRA3">
* <description>Dependent on the autopilot</description>
* </entry>
* </enum>
*/
private void button6_Click(object sender, EventArgs e)
{
var msg = new UasRequestDataStream
{
StartStop = 0,
ReqStreamId = 0,
};
_mMavLink.SendMessage(msg);
}
private void StopDataStream(MavDataStream stream)
{
var msg = new UasRequestDataStream();
msg.ReqMessageRate = 0;
msg.ReqStreamId = (byte)stream;
msg.StartStop = 0; // start;
_transport.SendMessage(msg);
_transport.SendMessage(msg);
}
private void StartDataStream(StreamReadConfig config)
{
var msg = new UasRequestDataStream();
msg.ReqMessageRate = config.UpdateHz;
msg.ReqStreamId = (byte)config.Stream;
msg.StartStop = 1; // start;
_transport.SendMessage(msg);
_transport.SendMessage(msg);
}
