private void OnPacketRecieved(object sender, MavlinkPacket e)
{
uint x = Mv.PacketsReceived;
MavlinkMessage m = e.Message;
if (m.GetType() == Hb.GetType())
{
Hb = (Msg_heartbeat)e.Message;
}
if (m.GetType() == Ss.GetType())
{
Ss = (Msg_sys_status)e.Message;
}
if (m.GetType() == Ps.GetType())
{
Ps = (Msg_power_status)e.Message;
}
if (m.GetType() == At.GetType())
{
At = (Msg_attitude)e.Message;
}
if (m.GetType() == Gps.GetType())
{
Gps = (Msg_gps_raw_int)e.Message;
}
if (m.GetType() == Vfr.GetType())
{
Vfr = (Msg_vfr_hud)e.Message;
}
if (m.GetType() == Rp.GetType())
{
Rp = (Msg_raw_pressure)e.Message;
}
if (m.GetType() == Sp.GetType())
{
Sp = (Msg_scaled_pressure)e.Message;
PressureAbsolute = (int)(Sp.press_abs * 1000f);
Temperature = Sp.temperature;
PressureDifference = (int)(Sp.press_diff * 1000f);
Total++;
if (OnAtmosphericData != null)
{
OnAtmosphericData.Invoke(PressureAbsolute, PressureDifference, Temperature, Total);
}
}
if (x > 0 && OnPacketCountGreaterThanZero != null)
{
OnPacketCountGreaterThanZero.Invoke();
}
}
void Mv_PacketReceived(object sender, MavLink.MavlinkPacket e)
{
uint x = Mv.PacketsReceived;
MavlinkMessage m = e.Message;
if (m.GetType() == Hb.GetType())
{
Hb = (Msg_heartbeat)e.Message;
}
if (m.GetType() == Ss.GetType())
{
Ss = (Msg_sys_status)e.Message;
}
if (m.GetType() == Ps.GetType())
{
Ps = (Msg_power_status)e.Message;
}
if (m.GetType() == At.GetType())
{
At = (Msg_attitude)e.Message;
}
if (m.GetType() == Gps.GetType())
{
Gps = (Msg_gps_raw_int)e.Message;
}
if (m.GetType() == Vfr.GetType())
{
Vfr = (Msg_vfr_hud)e.Message;
}
if (m.GetType() == Rp.GetType())
{
Rp = (Msg_raw_pressure)e.Message;
}
if (m.GetType() == Sp.GetType())
{
Sp = (Msg_scaled_pressure)e.Message;
Prs = (int)(Sp.press_abs * 1000f);
Tep = Sp.temperature;
Dif = (int)(Sp.press_diff * 1000f);
/*
* if (Sw == null)
* {
* Sw = new StreamWriter("c:\\Baro.csv");
* Sw.Write("\"Item\", \"Pressure\", \"Temp\", \"Difference\"\r\n");
* }
* String S = String.Format("{0}, {1}, {2}, {3}\r\n", Total++, Prs, Tep, Dif);
* Sw.Write(S);*/
}
if (x > 0)
{
if (MavLinkReader.ActiveForm != null)
{
MavLinkReader.ActiveForm.Invalidate();
}
}
}
public void LogPressure(Msg_scaled_pressure sp)
{
int Prs = (int)(sp.press_abs * 1000f);
int Tep = sp.temperature;
int Dif = (int)(sp.press_diff * 1000f);
if (Sw == null)
{
Sw = new StreamWriter("d:\\Baro.csv");
Sw.Write("\"Item\", \"Pressure\", \"Temp\", \"Difference\"\r\n");
}
String S = String.Format("{0}, {1}, {2}, {3}\r\n", Total++, Prs, Tep, Dif);
Sw.Write(S);
}
void Mv_PacketReceived(object sender, MavLink.MavlinkPacket e)
{
uint x = Mv.PacketsReceived;
Systemid = e.SystemId;
Componentid = e.ComponentId;
Sequence = e.SequenceNumber;
MavlinkMessage m = e.Message;
if (m.GetType() == Hb.GetType())
{
Hb = (Msg_heartbeat)e.Message;
}
if (m.GetType() == Ss.GetType())
{
Ss = (Msg_sys_status)e.Message;
}
if (m.GetType() == Ps.GetType())
{
Ps = (Msg_power_status)e.Message;
}
if (m.GetType() == At.GetType())
{
At = (Msg_attitude)e.Message;
}
if (m.GetType() == Gps.GetType())
{
Gps = (Msg_gps_raw_int)e.Message;
}
if (m.GetType() == Vfr.GetType())
{
Vfr = (Msg_vfr_hud)e.Message;
}
if (m.GetType() == Rp.GetType())
{
Rp = (Msg_raw_pressure)e.Message;
}
if (m.GetType() == Sp.GetType())
{
Sp = (Msg_scaled_pressure)e.Message;
Prs = (int)(Sp.press_abs * 1000f);
Tep = Sp.temperature;
Dif = (int)(Sp.press_diff * 1000f);
/*
* Special log of Barometric data to the D drive
* Can be disable if not needed
*/
ut.LogPressure(Sp);
}
if (m.GetType() == Ca.GetType())
{
Ca = (Msg_command_ack)e.Message;
}
if (m.GetType() == St.GetType())
{
St = (Msg_statustext)e.Message;
}
if (m.GetType() == Mc.GetType())
{
Mc = (Msg_mission_count)e.Message;
MI = 0;
GetMissionValues.RunWorkerAsync();
}
if (m.GetType() == Mi[0].GetType())
{
Mi[MI++] = (Msg_mission_item)e.Message;
if (MI >= Mc.count)
{
MI = -1;
}
}
if (x > 0)
{
if (MavLinkReader.ActiveForm != null)
{
MavLinkReader.ActiveForm.Invalidate();
}
}
}
