internal void connectToDrone()
{
DroneControllerConfiguration droneControllerConfiguration = new DroneControllerConfiguration();
droneControllerConfiguration.EnableNavigationDataThread = false;
droneControllerConfiguration.EnableVideoStreamThread = true;
droneControllerConfiguration.EnableGPSStreamThread = false;
droneControllerConfiguration.EnableATCommandThread = true;
droneControllerConfiguration.EnableControlInfoThread = false;
droneControllerConfiguration.EnableATCommandSimulation = false;
droneControllerConfiguration.DroneIpAddress = IPBox.Text;
droneController = null; // ensure null for creation (removed set = null in disconect)
droneController = new DroneController.DroneController(droneControllerConfiguration);
droneController.IsMoving = true;
droneController.TraceNotificationLevel = TraceNotificationLevel.Verbose;
droneController.OnNotifyTraceMessage += new EventHandler<TraceNotificationEventArgs>(droneController_OnNotifyTraceMessage);
droneController.OnNotifyVideoMessage += new EventHandler<VideoNotificationEventArgs>(droneController_OnNotifyVideoMessage);
droneController.OnNotifyGPSMessage += new EventHandler<GPSNotificationEventArgs>(droneController_OnNotifyGPSMessage);
droneController.OnNotifyDroneInfoMessage += new EventHandler<DroneInfoNotificationEventArgs>(droneController_OnNotifyDroneInfoMessage);
droneController.OnConnectionStatusChanged += new EventHandler<ConnectionStatusChangedEventArgs>(droneController_OnConnectionStatusChanged);
droneController.Connect();
while (droneController.ConnectionStatus != ConnectionStatus.Open) Thread.Sleep(100);
droneController.SetConfiguration("control:euler_angle_max", MathHelper.ToRadians((App.Current as App).Config.EulerAngleMax).ToString());
droneController.SetConfiguration("control:control_iphone_tilt", "1");
droneController.SetConfiguration("control:altitude_max", (App.Current as App).Config.MaxAltitude.ToString());
droneController.SetConfiguration("control:control_vz_max", (App.Current as App).Config.VerticalSpeed.ToString());
droneController.SetConfiguration("control:control_yaw", MathHelper.ToRadians(200).ToString());
verticalSpeed = 1.0f;
yawSpeed = MathHelper.ToRadians((App.Current as App).Config.YawSpeed) / MathHelper.ToRadians(200);
}
/// <summary>
/// Initializes a new instance of the <see cref="DroneController"/> class.
/// </summary>
/// <param name="droneControllerConfiguration">The drone controller configuration.</param>
public DroneController(DroneControllerConfiguration droneControllerConfiguration)
{
ControllerConfig = droneControllerConfiguration;
DroneProxy = DroneProxy.Create();
#if Video
VideoImage = new VideoImage();
VideoImage.ImageComplete += new EventHandler<ImageCompleteEventArgs>(VideoImage_ImageComplete);
#endif
DroneInfoNotificationEventArgs = new DroneInfoNotificationEventArgs();
DroneInfoTimer = new DispatcherTimer();
DroneInfoTimer.Interval = TimeSpan.FromTicks(Constants.DroneInfoTimerInterval);
DroneInfoTimer.Tick += new EventHandler(DroneInfoTimer_Elapsed);
}
