public void Update(UasHeartbeat hb)
{
Autopilot = (MavAutopilot)hb.Autopilot;
Type = (MavType)hb.Type;
switch (Autopilot)
{
case MavAutopilot.Ardupilotmega:
switch (Type)
{
case MavType.FixedWing:
Firmware = Firmwares.ArduPlane;
break;
case MavType.Quadrotor:
case MavType.Coaxial:
case MavType.Helicopter:
case MavType.Octorotor:
case MavType.Tricopter:
case MavType.Hexarotor:
Firmware = Firmwares.ArduCopter2;
break;
case MavType.AntennaTracker:
Firmware = Firmwares.ArduTracker;
break;
case MavType.GroundRover:
case MavType.SurfaceBoat:
Firmware = Firmwares.ArduRover;
break;
case MavType.Submarine:
Firmware = Firmwares.ArduSub;
break;
default:
Firmware = Firmwares.Unknown;
break;
}
break;
case MavAutopilot.Px4:
Firmware = Firmwares.PX4;
break;
case MavAutopilot.Generic:
case MavAutopilot.Reserved:
case MavAutopilot.Slugs:
case MavAutopilot.Openpilot:
case MavAutopilot.GenericWaypointsOnly:
case MavAutopilot.GenericWaypointsAndSimpleNavigationOnly:
case MavAutopilot.GenericMissionFull:
case MavAutopilot.Invalid:
case MavAutopilot.Ppz:
case MavAutopilot.Udb:
case MavAutopilot.Fp:
case MavAutopilot.Smaccmpilot:
case MavAutopilot.Autoquad:
case MavAutopilot.Armazila:
case MavAutopilot.Aerob:
case MavAutopilot.Asluav:
case MavAutopilot.Smartap:
case MavAutopilot.Airrails:
Firmware = Firmwares.Unknown;
break;
}
Armed = (hb.BaseMode & (byte)MavModeFlag.SafetyArmed) == (byte)MavModeFlag.SafetyArmed;
Guided = (hb.BaseMode & (byte)MavModeFlag.GuidedEnabled) == (byte)MavModeFlag.GuidedEnabled;
HardwareInLoopSimulation = (hb.BaseMode & (byte)MavModeFlag.HilEnabled) == (byte)MavModeFlag.HilEnabled;
Autonomous = (hb.BaseMode & (byte)MavModeFlag.AutoEnabled) == (byte)MavModeFlag.AutoEnabled;
Stabilized = (hb.BaseMode & (byte)MavModeFlag.StabilizeEnabled) == (byte)MavModeFlag.StabilizeEnabled;
Manual = (hb.BaseMode & (byte)MavModeFlag.ManualInputEnabled) == (byte)MavModeFlag.ManualInputEnabled;
var customModeEnabled = (hb.BaseMode & (byte)MavModeFlag.CustomModeEnabled) == (byte)MavModeFlag.CustomModeEnabled;
if (customModeEnabled)
{
if (_customModeType != hb.CustomMode)
{
_customModeType = hb.CustomMode;
var modelist = Modes.getModesList(Firmware);
if (modelist != null)
{
var customMode = modelist.Where(mod => mod.Key == hb.CustomMode).FirstOrDefault();
if (customMode.Key == hb.CustomMode)
{
CustomMode = customMode.Value;
}
else
{
CustomMode = String.Empty;
}
}
}
}
else
{
CustomMode = String.Empty;
}
Standby = hb.SystemStatus == (byte)MavState.Standby;
FlightTermination = hb.SystemStatus == (byte)MavState.FlightTermination;
Unknown = hb.SystemStatus == (byte)MavState.Uninit;
Calibrating = hb.SystemStatus == (byte)MavState.Calibrating;
Critical = hb.SystemStatus == (byte)MavState.Critical;
Emergency = hb.SystemStatus == (byte)MavState.Emergency;
Poweroff = hb.SystemStatus == (byte)MavState.Poweroff;
Active = hb.SystemStatus == (byte)MavState.Active;
Boot = hb.SystemStatus == (byte)MavState.Boot;
GaugeStatus = Emergency || Critical ? GaugeStatus.Error : GaugeStatus.OK;
TimeStamp = DateTime.Now;
}
public void Update(UasHeartbeat hb)
{
MavlinkVersion = hb.MavlinkVersion;
}