public void AbortWaypoints()
{
SCommGotoExecute executeWaypointsCmd = new SCommGotoExecute();
executeWaypointsCmd.Command = 10; // abort trajectory
// Send
byte[] toSend = Comm.GetBytes(executeWaypointsCmd);
formMain.SendData(0x80, toSend);
}
public void ExecuteWaypoints(float velocity)
{
SCommGotoExecute executeWaypointsCmd = new SCommGotoExecute();
executeWaypointsCmd.Command = 0x02; // execute trajectory
executeWaypointsCmd.Velocity = velocity;
// Send
byte[] toSend = Comm.GetBytes(executeWaypointsCmd);
formMain.SendData(0x80, toSend);
}
private void Goto(SWaypoint targetWaypoint)
{
SCommGotoExecute gotoExecuteCmd = new SCommGotoExecute();
gotoExecuteCmd.Command = 0x01; // execute GOTO
gotoExecuteCmd.TargetWaypoint.Altitude = targetWaypoint.Altitude;
gotoExecuteCmd.TargetWaypoint.Longitude = (int)(targetWaypoint.Longitude * 1e7);
gotoExecuteCmd.TargetWaypoint.Latitude = (int)(targetWaypoint.Latitude * 1e7);
// Send
byte[] toSend = Comm.GetBytes(gotoExecuteCmd);
formMain.SendData(0x80, toSend);
}
public void ExecuteOrbit(SWaypoint targetCenter, float velocity)
{
SCommGotoExecute executeOrbitCmd = new SCommGotoExecute();
executeOrbitCmd.Command = 0x03; // execute orbit
executeOrbitCmd.TargetWaypoint.Altitude = targetCenter.Altitude;
executeOrbitCmd.TargetWaypoint.Longitude = (int)(targetCenter.Longitude * 1e7);
executeOrbitCmd.TargetWaypoint.Latitude = (int)(targetCenter.Latitude * 1e7);
executeOrbitCmd.Velocity = velocity;
// Send
byte[] toSend = Comm.GetBytes(executeOrbitCmd);
formMain.SendData(0x80, toSend);
}