/// <summary>
/// Arms a component
/// </summary>
/// <returns></returns>
public static Task <CommandAckPayload> Arm(this IVehicleCommandProtocol src, CancellationToken cancel)
{
return(src.ArmDisarm(true, cancel));
}
/// <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="latitude">Latitude</param>
/// <param name="longitude">Longitude</param>
/// <param name="altitude">Altitude</param>
/// <param name="cancel"></param>
/// <returns></returns>
public static Task <CommandAckPayload> TakeOff(this IVehicleCommandProtocol src, float minimumPitch, float yawAngle, float latitude, float longitude, float altitude, CancellationToken cancel)
{
return(src.CommandLong(MavCmd.MavCmdNavTakeoff, minimumPitch, float.NaN, float.NaN, yawAngle, latitude, longitude, altitude, 3, cancel));
}
/// <summary>
/// Arms / Disarms a component
/// </summary>
/// <param name="src"></param>
/// <param name="state">true to arm, false to disarm</param>
/// <param name="cancel"></param>
/// <returns></returns>
public static Task <CommandAckPayload> ArmDisarm(this IVehicleCommandProtocol src, bool state, CancellationToken cancel)
{
return(src.CommandLong(MavCmd.MavCmdComponentArmDisarm, state ? 1 : 0, float.NaN, float.NaN, float.NaN, float.NaN, float.NaN, float.NaN, 3, cancel));
}
/// <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));
}
