protected override Task InternalGoToGlob(GeoPoint location, CancellationToken cancel, double?yawDeg)
{
return(GoTo(location, MavFrame.MavFrameGlobalInt, cancel, yawDeg));
}
/// <summary>
/// Reposition the vehicle to a specific WGS84 global position. Altitude - relative from home altitude.
/// </summary>
/// <returns></returns>
public static Task <CommandAckPayload> DoRepositionRelative(this IVehicle src, float groundSpeed, GeoPoint newRelativePosition, CancellationToken cancel)
{
return(src.DoReposition(groundSpeed, true, -1, (float)newRelativePosition.Latitude, (float)newRelativePosition.Longitude, (float)newRelativePosition.Altitude.Value + (float)src.Rtt.Home.Value.Altitude, cancel));
}
public Task GoToRel(GeoPoint location, CancellationToken cancel, double?yawDeg = null)
{
return(GoTo(location, MavFrame.MavFrameGlobalRelativeAltInt, cancel, yawDeg));
}
/// <summary>
/// Takeoff from ground / hand
/// </summary>
/// <param name="src"></param>
/// <param name="minimumPitch">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
/// <param name="yawAngle">Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.</param>
/// <param name="cancel"></param>
/// <returns></returns>
public static Task <CommandAckPayload> TakeOff(this IVehicleCommandProtocol src, float minimumPitch, float yawAngle, GeoPoint point, CancellationToken cancel)
{
return(src.TakeOff(minimumPitch, yawAngle, (float)point.Latitude, (float)point.Longitude, (float)point.Altitude, cancel));
}