/// <summary>
/// Sendet rohe IInputDevice Daten an die Drohne.
/// </summary>
/// <param name="data"></param>
public void SendTargetData(TargetData data)
{
// Rohe Daten umwandeln in richtigen Interval
data.Pitch *= MaxPitch;
data.Roll *= MaxRoll;
data.RotationalSpeed *= MaxRotationalSpeed;
// Offset hinzufügen
data.Pitch += PitchOffset;
data.Roll += RollOffset;
data.RotationalSpeed += RotationalOffset;
data.Thrust *= MaxThrust;
// Daten setzen und senden
TargetData = data;
if (OnTargetDataChanged != null)
{
OnTargetDataChanged(this, EventArgs.Empty);
}
if (drone.Data.State == DroneState.Armed || drone.Data.State == DroneState.Flying)
{
drone.SendMovementData(data.Pitch, data.Roll, data.RotationalSpeed, (int)data.Thrust);
}
}
/// <summary>
/// Sendet rohe IInputDevice Daten an die Drohne.
/// </summary>
/// <param name="data"></param>
public void SendTargetData(TargetData data)
{
RawTargetData = data;
data.Roll = (float)MapInputOneToOne(data.Roll, 0.5, RollExp);
data.Pitch = (float)MapInputOneToOne(data.Pitch, 0.5, PitchExp);
data.Yaw = (float)MapInputOneToOne(data.Yaw, 0.5, YawExp);
data.Thrust = (float)MapThrust(data.Thrust);
data.Roll *= RollScale;
data.Pitch *= PitchScale;
data.Yaw *= YawScale;
data.Roll *= 500;
data.Pitch *= 500;
data.Yaw *= 200;
data.Thrust *= ThrustMax;
// Daten setzen und senden
TargetData = data;
OnTargetDataChanged?.Invoke(this, EventArgs.Empty);
if (drone.Data.State.AreMotorsRunning())
{
drone.SendMovementData((short)data.Roll, (short)data.Pitch, (short)data.Yaw, (short)data.Thrust);
}
}
public void Update(InputManager manager)
{
try
{
if (!IsConnected)
{
return;
}
currentState = controller.GetState();
if (CheckButtonPressed(GamepadButtonFlags.A))
{
manager.SendClear();
}
if (CheckButtonPressed(GamepadButtonFlags.B))
{
manager.StopDrone();
}
if (CheckButtonPressed(GamepadButtonFlags.Y))
{
manager.ToogleArmStatus();
}
float deadZone = 0.075f;
if (!manager.DeadZone)
{
deadZone = 0;
}
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.Gamepad.RightThumbX, short.MaxValue, deadZone);
target.Pitch = -DeadZone.Compute(currentState.Gamepad.RightThumbY, short.MaxValue, deadZone);
target.Yaw = DeadZone.Compute(currentState.Gamepad.LeftThumbX, short.MaxValue, deadZone);
target.Thrust = DeadZone.Compute(currentState.Gamepad.LeftThumbY + short.MaxValue, short.MaxValue * 2, deadZone);
float x = GetButtonValue(GamepadButtonFlags.DPadRight) - GetButtonValue(GamepadButtonFlags.DPadLeft);
float y = -GetButtonValue(GamepadButtonFlags.DPadDown) - GetButtonValue(GamepadButtonFlags.DPadUp);
target.Roll += x * 0.1f;
target.Pitch += y * 0.1f;
manager.SendTargetData(target);
lastState = currentState;
firstUpdate = false;
HasError = false;
}
catch (Exception e)
{
HasError = true;
Log.Error(e);
}
}
public void Update(InputManager manager)
{
try
{
if (!UpdateState())
{
return;
}
if (CheckButtonPressed(2))
{
manager.SendClear();
}
if (CheckButtonPressed(1))
{
manager.StopDrone();
}
if (CheckButtonPressed(0))
{
manager.ArmDrone();
}
if (CheckButtonReleased(0))
{
manager.DisarmDrone();
}
float deadZone = 0.075f;
if (!manager.DeadZone)
{
deadZone = 0;
}
const int maxValue = UInt16.MaxValue / 2;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.X - maxValue, maxValue, deadZone);
target.Pitch = DeadZone.Compute(currentState.Y - maxValue, maxValue, deadZone);
target.Yaw = DeadZone.Compute(currentState.RotationZ - maxValue, maxValue, deadZone);
target.Thrust = DeadZone.Compute(UInt16.MaxValue - currentState.Z, UInt16.MaxValue, deadZone);
manager.SendTargetData(target);
lastState = currentState;
HasError = false;
}
catch (Exception e)
{
HasError = true;
Log.Error(e);
}
}
public void Update(InputManager manager)
{
if (!IsConnected)
return;
currentState = controller.GetState();
if (CheckButtonPressed(GamepadButtonFlags.A))
manager.SendClear();
if (CheckButtonPressed(GamepadButtonFlags.B))
manager.StopDrone();
if (CheckButtonPressed(GamepadButtonFlags.Y))
manager.ToogleArmStatus();
float deadZone = 0.075f;
if (!manager.DeadZone)
deadZone = 0;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.Gamepad.LeftThumbX, short.MaxValue, deadZone);
target.Pitch = -DeadZone.Compute(currentState.Gamepad.LeftThumbY, short.MaxValue, deadZone);
target.RotationalSpeed = DeadZone.Compute(currentState.Gamepad.RightThumbX, short.MaxValue, deadZone);
target.Thrust = DeadZone.Compute(currentState.Gamepad.RightThumbY + short.MaxValue, short.MaxValue * 2, deadZone);
float x = GetButtonValue(GamepadButtonFlags.DPadRight) - GetButtonValue(GamepadButtonFlags.DPadLeft);
float y = -GetButtonValue(GamepadButtonFlags.DPadDown) - GetButtonValue(GamepadButtonFlags.DPadUp);
target.Roll += x * 0.1f;
target.Pitch += y * 0.1f;
manager.SendTargetData(target);
lastState = currentState;
firstUpdate = false;
}
public void Update(InputManager manager)
{
if (!UpdateState())
return;
if (CheckButtonPressed(2))
manager.SendClear();
if (CheckButtonPressed(1))
manager.StopDrone();
if (CheckButtonPressed(0))
manager.ArmDrone();
if (CheckButtonReleased(0))
manager.DisarmDrone();
float deadZone = 0.075f;
if (!manager.DeadZone)
deadZone = 0;
const int maxValue = UInt16.MaxValue / 2;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.X - maxValue, maxValue, deadZone);
target.Pitch = DeadZone.Compute(currentState.Y - maxValue, maxValue, deadZone);
target.RotationalSpeed = DeadZone.Compute(currentState.RotationZ - maxValue, maxValue, deadZone);
target.Thrust = DeadZone.Compute(UInt16.MaxValue - currentState.Z, UInt16.MaxValue, deadZone);
manager.SendTargetData(target);
lastState = currentState;
}
/// <summary>
/// Sendet rohe IInputDevice Daten an die Drohne.
/// </summary>
/// <param name="data"></param>
public void SendTargetData(TargetData data)
{
// Rohe Daten umwandeln in richtigen Interval
data.Pitch *= MaxPitch;
data.Roll *= MaxRoll;
data.RotationalSpeed *= MaxRotationalSpeed;
// Offset hinzufügen
data.Pitch += PitchOffset;
data.Roll += RollOffset;
data.RotationalSpeed += RotationalOffset;
data.Thrust *= MaxThrust;
// Daten setzen und senden
TargetData = data;
if (OnTargetDataChanged != null)
OnTargetDataChanged(this, EventArgs.Empty);
if (drone.Data.State == DroneState.Armed || drone.Data.State == DroneState.Flying)
drone.SendMovementData(data.Pitch, data.Roll, data.RotationalSpeed, (int)data.Thrust);
}
