private void Drone_OnDataChange(object sender, DataChangedEventArgs e)
{
if (e.Data.State == DroneState.OTA)
{
Drone.OnDataChange -= Drone_OnDataChange;
SendData();
}
}
private void Drone_OnDataChange(object sender, DataChangedEventArgs e)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DataChangedEventArgs>(Drone_OnDataChange), sender, e);
return;
}
SuspendLayout();
if (!float.IsNaN(e.Data.Gyro.Pitch) && !float.IsNaN(e.Data.Gyro.Roll))
artificialHorizon.SetAttitudeIndicatorParameters(e.Data.Gyro.Pitch, -e.Data.Gyro.Roll);
if (!float.IsNaN(e.Data.Gyro.Yaw))
headingIndicator.SetHeadingIndicatorParameters((int)e.Data.Gyro.Yaw);
calibrateGyroButton.Enabled = e.Data.State != DroneState.Armed && e.Data.State != DroneState.Flying;
orientationLabel.Text = string.Format("Roll: {0} Pitch: {1} Yaw: {2}",
Formatting.FormatDecimal(e.Data.Gyro.Roll, 2),
Formatting.FormatDecimal(e.Data.Gyro.Pitch, 2),
Formatting.FormatDecimal(e.Data.Gyro.Yaw, 2));
rotationLabel.Text = string.Format("Rotation x: {0} y: {1} z: {2}",
Formatting.FormatDecimal(e.Data.Gyro.GyroX, 2),
Formatting.FormatDecimal(e.Data.Gyro.GyroY, 2),
Formatting.FormatDecimal(e.Data.Gyro.GyroZ, 2));
float ax = e.Data.Gyro.AccelerationX;
float ay = e.Data.Gyro.AccelerationY;
float az = e.Data.Gyro.AccelerationZ;
float len = (float)Math.Sqrt(ax * ax + ay * ay + az * az);
accelerationLabel.Text = string.Format("Acceleration x: {0} y: {1} z: {2} len: {3}",
Formatting.FormatDecimal(ax, 2),
Formatting.FormatDecimal(ay, 2),
Formatting.FormatDecimal(az, 2),
Formatting.FormatDecimal(len, 2));
magnetLabel.Text = string.Format("Magnet x: {0} y: {1} z: {2}",
Formatting.FormatDecimal(e.Data.Gyro.MagnetX, 2),
Formatting.FormatDecimal(e.Data.Gyro.MagnetY, 2),
Formatting.FormatDecimal(e.Data.Gyro.MagnetZ, 2));
temperatureLabel.Text = string.Format("Temperature: {0}°C",
Formatting.FormatDecimal(e.Data.Gyro.Temperature, 2));
batteryVoltageLabel.Text = string.Format("Battery voltage: {0} V",
Formatting.FormatDecimal(e.Data.BatteryVoltage, 2));
ResumeLayout();
}
private void Drone_OnDataChange(object sender, DataChangedEventArgs e)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DataChangedEventArgs>(Drone_OnDataChange), sender, e);
return;
}
UpdateGraph(servoGraph, e.Data.MotorValues);
orientationGraphList.UpdateValue(e.Data.Gyro.Roll, e.Data.Gyro.Pitch, e.Data.Gyro.Yaw);
rotationGraphList.UpdateValue(e.Data.Gyro.GyroX, e.Data.Gyro.GyroY, e.Data.Gyro.GyroZ);
accelerationGraphList.UpdateValue(e.Data.Gyro.AccelerationX, e.Data.Gyro.AccelerationY, e.Data.Gyro.AccelerationZ);
}
private void OnDroneDataChange(object sender, DataChangedEventArgs args)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DataChangedEventArgs>(OnDroneDataChange), sender, args);
return;
}
QuadMotorValues motorValues = args.Data.MotorValues;
SetServoValues(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateServoValue(motorValues.FrontLeft, motorValues.FrontRight, motorValues.BackLeft, motorValues.BackRight);
UpdateEnabled(args.Data.State);
}
private void Drone_OnDataChange(object sender, DataChangedEventArgs e)
{
UpdateProgress();
}
private void Drone_OnDataChange(object sender, DataChangedEventArgs eventArgs)
{
if (InvokeRequired)
{
Invoke(new EventHandler<DataChangedEventArgs>(Drone_OnDataChange), this, eventArgs);
return;
}
UpdateData(eventArgs.Data);
}