private void WindowMenuOpenQuadPropertyCommandAction()
{
if (QuadPropertyWindow != null)
{
QuadPropertyWindow.Close();
}
QuadPropertyWindow = new QuadPropertyWindow();
QuadPropertyWindow.Show();
}
private void CommandStateClick(object obj)
{
if (VehicleComponent == null)
{
VehicleComponent = ServiceLocator.Current.GetInstance <IVehicleComponent>();
}
if (VehicleComponent == null)
{
return;
}
if (MissionComponent == null)
{
MissionComponent = ServiceLocator.Current.GetInstance <IMissionComponent>();
}
if (MissionComponent == null)
{
return;
}
VisibilityView = Visibility.Hidden;
var state = obj as string;
switch (state)
{
case "CameHome":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.RTL);
}
break;
case "Land":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Land);
}
break;
case "Pause":
if (VehicleSelected != null)
{
VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint)VehicleModeEnum.Loiter);
}
break;
case "Start":
if (VehicleSelected != null)
{
//VehicleComponent.SendModeCommand(VehicleSelected.ID, (uint) VehicleModeEnum.Auto);
//MissionComponent.StartMission(VehicleSelected.ID, 0);
MissionComponent.StartMissionAuto(VehicleSelected.ID, 0);
}
break;
case "LoadMission":
if (VehicleSelected.Tasks.Count > 0)
{
VehicleSelected.IsActivateMission = false;
MissionComponent.UploadTask(VehicleSelected.ID,
VehicleSelected.HomePosition,
new MavlinkWaypoint
{
Latitude = VehicleSelected.Latitude,
Longitude = VehicleSelected.Longitude,
Altitude = DefaultAltitude,
Param4 = (float)VehicleSelected.Heading
},
VehicleSelected.Tasks[0]);
VehicleSelected.MissionID = VehicleSelected.Tasks[0].TaskID;
}
break;
case "TakeOff":
if (VehicleSelected != null)
{
VehicleComponent.TakeOffCommand(VehicleSelected.ID, 100, (float)VehicleSelected.Latitude,
(float)VehicleSelected.Longitude, (float)VehicleSelected.Heading);
}
break;
case "ControlRequest":
//if (value)
// ServiceLocator.Current.GetInstance<IJoystick>(idx).Start();
//else
// ServiceLocator.Current.GetInstance<IJoystick>().Stop();
break;
case "OpenCamera":
if (QuadPropertyWindow != null)
{
QuadPropertyWindow.Close();
QuadPropertyWindow = null;
}
QuadPropertyWindow = new QuadPropertyWindow();
QuadPropertyWindow.Show();
break;
}
}
