public Engine(IReader reader, IWriter writer, IAirportController airportController, IFlightController flightController)
{
this.reader = reader;
this.writer = writer;
this.airportController = airportController;
this.flightController = flightController;
}
public void Setup()
{
airport = new Airport();
airplane = new LightAirplane();
fController = new FlightController(airport);
trip = new Trip("Sofia", "Vidin", airplane);
airport.AddTrip(trip);
}
private void showFlightsMenu()
{
flightController = new FlightController();
Console.WriteLine("Current Flights.");
Console.WriteLine("======================");
flightController.getAllFlights();
Console.WriteLine();
mainMenu();
}
public CustomerView()
{
customerController = new CustomerController();
flightController = new FlightController();
InitializeComponent();
UpdateCustomerGrid();
UpdateFlightGrid();
txtCustomerId.Hide();
txtFlightId.Hide();
}
public TelloControllerViewModel(
IUIDispatcher dispatcher,
IUINotifier notifier,
IFlightController controller,
IRepository repository,
ISession session)
: base(dispatcher, notifier)
{
this.controller = controller ?? throw new ArgumentNullException(nameof(controller));
this.repository = repository ?? throw new ArgumentNullException(nameof(repository));
this.session = session ?? throw new ArgumentNullException(nameof(session));
}
public MainPage()
{
this.InitializeComponent();
// TODO: select the input controller - eventually this should
// be configurable at runtime through a settings page, or be
// automatically detected.
//
// For touchscreen control, use the FlightController class (default)
flightController = new FlightController(leftStick, rightStick);
// For spatial gesture control (HoloLens), use the GestureController class
//flightController = new GestureController();
crazyflieController = new CrazyflieController(flightController);
}
public CrazyflieController(IFlightController flightController)
{
this.flightController = flightController;
bthCrtp = new BthCrtp();
}
public TakeOffCommand(IFlightController flightController)
{
this.flightController = flightController;
}
public void TestInit()
{
airport = new Airport();
flightController = new FlightController(airport);
}
public CrazyflieController(IFlightController flightController)
{
this.flightController = flightController;
bthCrtp = new BthCrtp();
}
public ClientController()
{
customerController = new CustomerController();
flightController = new FlightController();
}
public static WindowsPilot Create(
IAircraft aircraft,
IGyroscope3 gyroscope,
IAccelerometer3 accelerometer,
IMagnetometer3 magnetometer,
IFlightController controller,
double thrustMax,
double angularPositionPitchMax,
double angularPositionRollMax,
double angularVelocityYawMax)
{
var angularVelocityNoisy = new Subject <AngularVelocity3>();
var accelerationNoisy = new Subject <GForce3>();
var magnetismNoisy = new Subject <MagneticFluxDensity3>();
IObservable <AngularVelocity3> angularVelocityOptimal =
angularVelocityNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.0000025d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / gyroscope.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d)
.Multiply(1.08d /*calibration*/);
IObservable <GForce3> accelerationOptimal =
accelerationNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.025d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / accelerometer.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d);
IObservable <MagneticFluxDensity3> magnetismOptimal =
magnetismNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.05d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / magnetometer.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d);
var magnetismMinCalibration = new MagneticFluxDensity3(
x: -0.273980716005263d,
y: -0.245318477916743d,
z: -0.237557110710227d);
var magnetismMaxCalibration = new MagneticFluxDensity3(
x: 0.148042531751317d,
y: 0.177504483195312d,
z: 0.155796981828076d);
var ahrs = new Ahrs(angularVelocityOptimal, accelerationOptimal, magnetismOptimal, magnetismMinCalibration, magnetismMaxCalibration);
var angularVelocityInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / gyroscope.Frequency));
var accelerationInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / accelerometer.Frequency));
var magnetismInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / magnetometer.Frequency));
var yawTimer = new Subject <object>();
var yawInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / YawFrequency));
var outputTimer = new Subject <object>();
var outputInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / OutputFrequency));
SyncLoop.ProduceAsync(
angularVelocityInterval, a => gyroscope.Read(), angularVelocityNoisy,
accelerationInterval, a => accelerometer.Read(), accelerationNoisy,
magnetismInterval, a => magnetometer.Read(), magnetismNoisy,
yawInterval, a => null, yawTimer,
outputInterval, a => null, outputTimer,
WorkItemPriority.High).AsTask();
IObservable <double> thrust =
controller.Thrust.Select(value => value * thrustMax);
IObservable <double> angularPositionPitchSetpoint =
controller.Pitch.Select(value => value * angularPositionPitchMax);
IObservable <double> angularPositionRollSetpoint =
controller.Roll.Select(value => value * angularPositionRollMax);
IObservable <double> angularPositionYawSetpoint =
Extensions.ObservableExtensions
.CombineLatest(
controller.Yaw,
yawTimer.TimeInterval(),
(yaw, timer, yawChanged, timerChanged) =>
new { Yaw = yaw, YawChanged = yawChanged, TimerElapsed = timerChanged, TimerInterval = timer.Interval })
.Scan(
default(double),
(accu, t) =>
{
double yaw = accu;
if (t.TimerElapsed)
{
double dt = t.TimerInterval.TotalSeconds;
yaw += t.Yaw * angularVelocityYawMax * dt;
if (yaw > AngleConvert.ToRadians(180d))
{
yaw -= AngleConvert.ToRadians(360d);
}
else if (yaw <= AngleConvert.ToRadians(-180d))
{
yaw += AngleConvert.ToRadians(360d);
}
}
return(yaw);
});
IObservable <EulerAngles> angularPositionSetpoint =
Observable.CombineLatest(
angularPositionPitchSetpoint,
angularPositionRollSetpoint,
angularPositionYawSetpoint,
(pitch, roll, yaw) =>
new EulerAngles(pitch, roll, yaw));
var pilot = new WindowsPilot(
aircraft,
thrust,
angularPositionSetpoint,
ahrs.AngularVelocityCalibrated,
ahrs.AngularPosition);
outputTimer.Subscribe(state => pilot.WriteOutput());
return(pilot);
}
public void SetUp()
{
this.airport = new Airport();
this.flightController = new FlightController(airport);
}
