/// <summary>
/// Sets the keys to the drone
/// </summary>
/// <param name="myVals">Array of float containing the parameters</param>
protected void writeKeysOnDMC(float[] myVals)
{
droneMovementController dmc = GetComponent <droneMovementController>();
PID yPID = new PID(myVals[0], myVals[1], myVals[2], myVals[3]);
PID zPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
PID xPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
PID yawPID = new PID(myVals[8], myVals[9], myVals[10], myVals[11]);
PID rollPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
PID pitchPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
dmc.setKs(yPID, zPID, xPID, pitchPID, rollPID, yawPID);
dmc.setConsts(myVals[16], myVals[17], myVals[18], myVals[19], myVals[20], myVals[22], myVals[23]);
}
/// <summary>
/// Sets the keys used for the experiment and the waypoint
/// </summary>
/// <param name="myVals">Array of float containing the parameters</param>
/// <param name="waypointCircuit">WaypointCircuit that will be used for the experiment</param>
protected void writeKeysOnDMC(float[] myVals, GameObject waypointCircuit)
{
// if the variables are empty, is assigns them
dmc = (dmc != null ? dmc : GetComponent <droneMovementController>());
wpt = (wpt != null ? wpt : GetComponent <WaypointProgressTracker>());
// initializing new PIDs
yPID = new PID(myVals[0], myVals[1], myVals[2], myVals[3]);
zPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
xPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
yawPID = new PID(myVals[8], myVals[9], myVals[10], myVals[11]);
rollPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
pitchPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
// calls the functions in the droneMovementController to set the keys and the constants
dmc.setKs(yPID, zPID, xPID, pitchPID, rollPID, yawPID);
dmc.setConsts(myVals[16], myVals[17], myVals[18], myVals[19], myVals[20], myVals[22], myVals[23]);
// spawns the WaypointCircuit and assign it to the drone
Vector3 wpcPosition = this.transform.position + new Vector3(2, 6, 2);
spawnedWaypoint = (GameObject)Instantiate(waypointCircuit, wpcPosition, Quaternion.identity);
wpt.setWaypoint(spawnedWaypoint.GetComponent <WaypointCircuit>());
}
