public MainWindow()
{
this.InitializeComponent();
//Listen for registration success
Focus(FocusState.Keyboard);
DJISDKManager.Instance.SDKRegistrationStateChanged += async(state, result) =>
{
if (state != SDKRegistrationState.Succeeded)
{
var md = new MessageDialog(result.ToString());
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() => await md.ShowAsync());
return;
}
//wait till initialization finish
//use a large enough time and hope for the best
await Task.Delay(1000);
videoParser = new DJIVideoParser.Parser();
videoParser.Initialize();
videoParser.SetVideoDataCallack(0, 0, ReceiveDecodedData);
DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0).VideoDataUpdated += OnVideoPush;
await DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).SetObstacleAvoidanceEnabledAsync(new BoolMsg()
{
value = false
});
await Task.Delay(5000);
GimbalResetCommandMsg resetMsg = new GimbalResetCommandMsg()
{
value = GimbalResetCommand.UNKNOWN
};
await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).ResetGimbalAsync(resetMsg);
};
DJISDKManager.Instance.RegisterApp("489330473bb6ed62837e4f05");
}
private async void State_change(Object source, ElapsedEventArgs e)
{
/*
* startTime = DateTime.Now;
* endTime = DateTime.Now;
* Double elapsedMillisecs = ((TimeSpan)(endTime - startTime)).TotalMilliseconds;
* System.Diagnostics.Debug.WriteLine("Checking state, it has started {0}\n", elapsedMillisecs);
*/
//script_state++;
System.Diagnostics.Debug.WriteLine("Current State: {0}", mission_state);
bool destination_reached = false;
switch (mission_state)
{
case 0: //take off
{
System.Diagnostics.Debug.WriteLine("Taking off...");
takeoffstarttime = DateTime.Now;
var res = await DJISDKManager.Instance.ComponentManager.GetFlightControllerHandler(0, 0).StartTakeoffAsync();
mission_state = 1;
break;
}
case 1: //roll
{
if (currentAltitude >= 1.1)
{
System.Diagnostics.Debug.WriteLine("Take off completed");
Attitude_control();
mission_state++;
throttle = -0.2f;
GimbalResetCommandMsg resetMsg = new GimbalResetCommandMsg()
{
value = GimbalResetCommand.UNKNOWN
};
await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).ResetGimbalAsync(resetMsg);
}
else
{
System.Diagnostics.Debug.WriteLine("Climbing...");
}
break;
}
case 2:
{
if (currentAltitude <= 1.0)
{
StartRecording();
Attitude_control();
StartRecording();
mission_state++;
}
else
{
System.Diagnostics.Debug.WriteLine("Going down to 1.0...");
}
break;
}
case 3: //go to WP1
{
if (myWP[1].compare(current2Dpostion) <= myWP[1].tolarence)
{
System.Diagnostics.Debug.WriteLine("WP1 arrived");
Attitude_control();
StopRecording();
System.Diagnostics.Debug.WriteLine("current position {0}, {1}", current2Dpostion.x, current2Dpostion.y);
throttle = -0.2f;
mission_state++;
}
else
{
roll = max_speed;
pitch = pitchPID.get(myWP[1].offsetFromPath(myWP[0], current2Dpostion));
System.Diagnostics.Debug.WriteLine("pitch will be: {0}", pitch);
//pitch = pitchPID.get(myWP[1].offsetFromPath(myWP[0], current2Dpostion));
System.Diagnostics.Debug.WriteLine("current position {0}, {1}", current2Dpostion.x, current2Dpostion.y);
System.Diagnostics.Debug.WriteLine("Flying to WP1, distance = {0}", myWP[1].compare(current2Dpostion));
System.Diagnostics.Debug.WriteLine("Perpendicular distance = {0}", myWP[1].offsetFromPath(myWP[0], current2Dpostion));
}
break;
}
case 4:
{
if (currentAltitude <= 0.4)
{
Attitude_control();
//StartRecording();
mission_state++;
}
else
{
System.Diagnostics.Debug.WriteLine("Going down to 0.4...");
}
break;
}
case 5: //go to WP2
{
if (myWP[2].compare(current2Dpostion) <= myWP[2].tolarence)
{
System.Diagnostics.Debug.WriteLine("WP2 arrived");
Attitude_control();
System.Diagnostics.Debug.WriteLine("current position {0}, {1}", current2Dpostion.x, current2Dpostion.y);
mission_state = 16;
}
else
{
roll = -max_speed;
//pitch = pitchPID.get(myWP[1].offsetFromPath(myWP[0], current2Dpostion));
System.Diagnostics.Debug.WriteLine("current position {0}, {1}", current2Dpostion.x, current2Dpostion.y);
System.Diagnostics.Debug.WriteLine("Flying to WP2, distance = {0}", myWP[2].compare(current2Dpostion));
System.Diagnostics.Debug.WriteLine("Perpendicular distance = {0}", myWP[2].offsetFromPath(myWP[1], current2Dpostion));
}
break;
}
case 16:
{
System.Diagnostics.Debug.WriteLine("Mission Completed. Press H to land");
break;
}
default:
{
StopRecording();
System.Diagnostics.Debug.WriteLine("Mission Inpterrupted");
break;
}
}
//periodically adjust yaw angle
yaw = yawPID.get(hold_rotation - true_north_heading);
if (DJISDKManager.Instance != null)
{
DJISDKManager.Instance.VirtualRemoteController.UpdateJoystickValue(throttle, yaw, pitch, roll);
}
}
public MainPage()
{
this.InitializeComponent();
//Listen for registration success
Focus(FocusState.Keyboard);
DJISDKManager.Instance.SDKRegistrationStateChanged += async(state, result) =>
{
if (state != SDKRegistrationState.Succeeded)
{
var md = new MessageDialog(result.ToString());
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, async() => await md.ShowAsync());
return;
}
//wait till initialization finish
//use a large enough time and hope for the best
await Task.Delay(1000);
videoParser = new DJIVideoParser.Parser();
videoParser.Initialize();
videoParser.SetVideoDataCallack(0, 0, ReceiveDecodedData);
DJISDKManager.Instance.VideoFeeder.GetPrimaryVideoFeed(0).VideoDataUpdated += OnVideoPush;
await DJISDKManager.Instance.ComponentManager.GetFlightAssistantHandler(0, 0).SetObstacleAvoidanceEnabledAsync(new BoolMsg()
{
value = false
});
await Task.Delay(5000);
GimbalResetCommandMsg resetMsg = new GimbalResetCommandMsg()
{
value = GimbalResetCommand.UNKNOWN
};
await DJISDKManager.Instance.ComponentManager.GetGimbalHandler(0, 0).ResetGimbalAsync(resetMsg);
};
DJISDKManager.Instance.RegisterApp("489330473bb6ed62837e4f05");
//Call once to initialize fields
SetControlState(false);
this._timer = new Stopwatch();
this._timer.Start();
var flightAssistant = DJISDKManager.Instance?.ComponentManager.GetFlightAssistantHandler(0, 0);
flightAssistant?.SetVisionAssistedPositioningEnabledAsync(new BoolMsg {
value = true
});
flightAssistant?.SetObstacleAvoidanceEnabledAsync(new BoolMsg {
value = true
});
var flightController = DJISDKManager.Instance?.ComponentManager.GetFlightControllerHandler(0, 0);
var attitudeUpdateTimer = new Stopwatch();
attitudeUpdateTimer.Start();
flightController.AttitudeChanged += (sender, value) =>
{
_attitudeInterval = attitudeUpdateTimer.Elapsed;
attitudeUpdateTimer.Restart();
if (value.HasValue)
{
_attitude = new Attitude
{
pitch = value.Value.pitch,
roll = value.Value.roll,
yaw = value.Value.yaw
};
}
UpdateYawCommand();
UpdateAction();
UpdateDebugPrintBoxAsync();
};
var heightUpdateTimer = new Stopwatch();
heightUpdateTimer.Start();
flightController.AltitudeChanged += (sender, value) =>
{
_heightInterval = heightUpdateTimer.Elapsed;
heightUpdateTimer.Restart();
if (value.HasValue)
{
_height = value.Value.value;
}
UpdateHeightCommand();
UpdateAction();
UpdateDebugPrintBoxAsync();
};
}
