// Event method for 'DroneClient.NavigationPacketAcquired' action
private void NavigationDataAcquired(NavigationData aPacket)
{
if (Active)
{
var data = new Apparatus.Output {
Navigation = aPacket, LastInput = LastInput
};
EnqueueOutput(data);
}
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
float heading = CorrectRotation(aApparatusOutput.Navigation.Yaw);
aApparatusInput.Yaw = Arithmetics.KeepInRange(CorrectRotation((Value) - (heading))*Agression, Input.Limits.Yaw.Min,
Input.Limits.Yaw.Max);
if (CanBeObtained)
{
if (Math.Abs(aApparatusInput.Yaw) < 0.05) _obtainCandidates++;
else _obtainCandidates = 0;
if (_obtainCandidates > 3) Obtained = true;
}
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
aApparatusInput.Command = Input.Type.Land;
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
aApparatusInput.Gaz = Arithmetics.KeepInRange(Value, Input.Limits.Gaz.Min, Input.Limits.Gaz.Max);
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
aApparatusInput.Command = Input.Type.ResetEmergency;
Obtained = true;
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
aApparatusInput.Command = Input.Type.FlatTrim;
Obtained = true;
}
/// <summary>
/// Enqueue drone's output data for autopilot handling based on current objective.
/// </summary>
/// <param name="aData">Output data to be enqueued</param>
public void EnqueueOutput(Apparatus.Output aData)
{
ApparatusOutputQueue.Enqueue(aData);
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
float altitude = Arithmetics.KeepInRange(aApparatusOutput.Navigation.Altitude, Min, Max);
aApparatusInput.Gaz = Arithmetics.KeepInRange(Diff(altitude)*Agression, Input.Limits.Gaz.Min, Input.Limits.Gaz.Max);
}
public override void Contribute(Output aApparatusOutput, ref Input aApparatusInput)
{
aApparatusInput.Pitch = -CalculateVelocityManeuver(aApparatusOutput.Navigation.Velocity.X);
}
public abstract void Contribute(Output aApparatusOutput, ref Input aApparatusInput);
// Event method for 'DroneClient.NavigationPacketAcquired' action
private void NavigationDataAcquired(NavigationData aPacket)
{
if (Active)
{
var data = new Apparatus.Output {Navigation = aPacket, LastInput = LastInput};
EnqueueOutput(data);
}
}