protected virtual void InitArmed()
{
var timer = Observable.Timer(TimeSpan.FromSeconds(1), TimeSpan.FromSeconds(1)).Where(_ => IsArmed.Value).Subscribe(_ =>
{
var lastBin = Interlocked.Read(ref _lastArmedTime);
if (lastBin == 0)
{
_armedTime.OnNext(TimeSpan.Zero);
return;
}
var last = DateTime.FromBinary(lastBin);
var now = DateTime.Now;
var delay = (now - last);
_armedTime.OnNext(delay);
});
_isArmed.DistinctUntilChanged().Where(_ => _isArmed.Value).Subscribe(_ => Interlocked.Exchange(ref _lastArmedTime, DateTime.Now.ToBinary()), DisposeCancel.Token);
DisposeCancel.Token.Register(() => timer.Dispose());
_mavlink.Heartbeat.RawHeartbeat.Select(_ => _.BaseMode.HasFlag(MavModeFlag.MavModeFlagSafetyArmed)).Subscribe(_isArmed, DisposeCancel.Token);
DisposeCancel.Token.Register(() => _isArmed.Dispose());
}