public void Land(int timeout)
{
// We do not want to fly while landing
lock (ThisLock)
{
FlyVector.ResetVector();
Logger.Debug("Landing...");
CommandTuple cmdTuple = new CommandTuple(1, 0, 3);
SendNoParam(cmdTuple);
Stopwatch sw = new Stopwatch();
sw.Start();
while (FlyingState.GetState() != FlyingState.State.Landed && sw.ElapsedMilliseconds < timeout)
{
if (FlyingState.GetState() == FlyingState.State.Emergency)
{
break;
}
SmartSleep(100);
}
sw.Stop();
}
}
public void TakeOff(int timeout)
{
Logger.Debug("Performing takeoff...");
CommandTuple cmdTuple = new CommandTuple(1, 0, 1);
if (FlyingState.GetState() == FlyingState.State.Landed || FlyingState.GetState() == FlyingState.State.UnKn0wn)
{
SendNoParam(cmdTuple);
}
else
{
return;
}
Stopwatch sw = new Stopwatch();
sw.Start();
while (FlyingState.GetState() != FlyingState.State.Hovering && FlyingState.GetState() != FlyingState.State.Flying && sw.ElapsedMilliseconds < timeout)
{
if (FlyingState.GetState() == FlyingState.State.Emergency)
{
break;
}
SmartSleep(100);
}
sw.Stop();
}
public bool IsLanded()
{
return(FlyingState.GetState() == FlyingState.State.Emergency || FlyingState.GetState() == FlyingState.State.Landed);
}