/// <summary>
/// Convert an AUTP <see cref="UavPosition"/> to a <see cref="UavPositionReport"/>
/// </summary>
/// <returns>A UavPositionReport object</returns>
public static UavPositionReport ToPositionReport(this UavPosition position)
{
var report = new UavPositionReport
{
Alt = new Altitude(position.GpsAltitude, AltitudeDatum.Wgs84, position.AltitudeAccuracy),
IsAirborne = Enum.IsDefined(typeof(AirborneStatus), position.IsAirborne)
? (AirborneStatus)position.IsAirborne
: AirborneStatus.Unknown,
Pos = new Position(
(float)position.Latitude / UavPositionReportExtensions.PositionMultiplier,
(float)position.Longitude / UavPositionReportExtensions.PositionMultiplier,
position.PositionAccuracy
),
Velocity = new Velocity(
(float)position.EastVelocity / UavPositionReportExtensions.VelocityMultiplier,
(float)position.NorthVelocity / UavPositionReportExtensions.VelocityMultiplier,
(float)position.UpVelocity / UavPositionReportExtensions.VelocityMultiplier,
(float)position.VelocityAccuracy / UavPositionReportExtensions.VelocityMultiplier
),
Fuel = position.Fuel,
SatellitesVisible = position.SatellitesVisible,
GpsTimestamp = GpsTime.ToDateTime(position.GpsTimestamp).AddMilliseconds(position.GpsTimestampOffset)
};
return(report);
}
/// <summary>
/// Convert a <see cref="UavPositionReport"/> to an Autp <see cref="UavPosition"/>
/// </summary>
/// <remarks>
/// Altitude should be specified in Wgs8, as that's what the UDP paket is expected to provide.
/// If it isn't the altitude will be inaccurate if it is serialized back to canonical again.
/// No conversion is made.
/// </remarks>
/// <returns>A UavPosition object</returns>
public static UavPosition ToUavPosition(this UavPositionReport report)
{
var position = new UavPosition
{
// Position
Latitude = (int)(report.Pos.Lat * UavPositionReportExtensions.PositionMultiplier),
Longitude = (int)(report.Pos.Lon * UavPositionReportExtensions.PositionMultiplier),
PositionAccuracy = report.Pos.Accuracy,
IsAirborne = (byte)report.IsAirborne,
// Altitude
GpsAltitude = report.Alt.Value,
AltitudeAccuracy = report.Alt.Accuracy,
// Speed and heading
EastVelocity = (int)(report.Velocity.X * UavPositionReportExtensions.VelocityMultiplier),
NorthVelocity = (int)(report.Velocity.Y * UavPositionReportExtensions.VelocityMultiplier),
UpVelocity = (int)(report.Velocity.Z * UavPositionReportExtensions.VelocityMultiplier),
VelocityAccuracy = (int)(report.Velocity.Accuracy * UavPositionReportExtensions.VelocityMultiplier),
Fuel = report.Fuel,
SatellitesVisible = report.SatellitesVisible,
GpsTimestamp = GpsTime.ToGpsTimestamp(report.GpsTimestamp),
GpsTimestampOffset = (ushort)report.GpsTimestamp.Millisecond
};
return(position);
}