public bool Goto(float x, float y, float z)
{
if (selected)
{
if (apm_mode != (int)MAVLink.COPTER_MODE.GUIDED)
{
MAVLink.mavlink_set_mode_t cmd = new MAVLink.mavlink_set_mode_t
{
base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED,
target_system = 0,
custom_mode = (uint)MAVLink.COPTER_MODE.GUIDED
};
byte[] data = mavlinkParse.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.SET_MODE, cmd);
sock.SendTo(data, myproxy);
}
{
MAVLink.mavlink_set_position_target_local_ned_t cmd = new MAVLink.mavlink_set_position_target_local_ned_t
{
target_system = 0,
target_component = 0,
coordinate_frame = (byte)MAVLink.MAV_FRAME.LOCAL_NED,
type_mask = 0x0DF8,
x = x,
y = y,
z = z
};
byte[] data = mavlinkParse.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_LOCAL_NED, cmd);
sock.SendTo(data, myproxy);
}
return(true);
}
return(false);
}
public void DownClick()
{
MAVLink.mavlink_set_position_target_local_ned_t cmd = new MAVLink.mavlink_set_position_target_local_ned_t
{
target_system = (byte)gameWorld.TargetID,
coordinate_frame = (byte)MAVLink.MAV_FRAME.LOCAL_OFFSET_NED,
type_mask = 0xff8,
z = 0.5f
};
byte[] data = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_LOCAL_NED, cmd);
sock.SendTo(data, ep);
}
private void button10_Click(object sender, EventArgs e)
{
MAVLink.mavlink_set_position_target_local_ned_t cmd = new MAVLink.mavlink_set_position_target_local_ned_t();
cmd.target_system = 1;
cmd.coordinate_frame = (byte)MAVLink.MAV_FRAME.LOCAL_NED;
cmd.type_mask = 0xff8;
cmd.x = 0.0f + float.Parse(textBox3.Text);
label33.Text = Convert.ToString(cmd.x);
cmd.y = 0.0f + float.Parse(textBox4.Text);
label34.Text = Convert.ToString(cmd.y);
cmd.z = -1.2f;
DroneData drone = drones["bebop2"];
byte[] pkt = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.SET_POSITION_TARGET_LOCAL_NED, cmd);
mavSock.SendTo(pkt, drone.ep);
}
public Interop_Callback_Struct(Interoperability.Interop_Action _action, MAVLink.mavlink_set_position_target_local_ned_t _mav_position)
{
action = _action;
mav_position = _mav_position;
}
