public static HelicopterControllerSettings FromXmlElement(XElement controllerElement)
{
var controllerSetting = new HelicopterControllerSettings()
{
IsSafetyEnabled = controllerElement.Attribute("IsSafetyEnabled").ParseOptionalBoolean(),
PidLoopIntervalMilliseconds = controllerElement.Attribute("PidLoopIntervalMilliseconds").ParseInt(),
YawControllerSettings = YawControllerSettings.FromXmlElement(controllerElement.Element("Yaw")),
TiltControllerSettings = TiltControllerSettings.FromXmlElement(controllerElement.Element("Tilt")),
};
return controllerSetting;
}
public void LoadSettings(HelicopterControllerSettings settings)
{
if (settings.IsSafetyEnabled)
{
EnableSafety();
}
else
{
DisableSafety();
}
SetPidLoopInterval(settings.PidLoopIntervalMilliseconds);
Yaw.LoadSettings(settings.YawControllerSettings);
Tilt.LoadSettings(settings.TiltControllerSettings);
Yaw.RefreshAllValues();
Tilt.RefreshAllValues();
Log.Debug("Loaded settings for Helicopter Controller");
}
public void Connect(HelicopterControllerSettings settings)
{
if (!IsConnected)
{
Microcontroller.Connect();
LoadSettings(settings);
InitializeController();
Log.DebugFormat("Connected to {0}", ControllerIdentity);
}
else
{
throw new Exception("Microcontroller is already connected.");
}
}
