public override async Task FlyByLineGlob(GeoPoint start, GeoPoint stop, double precisionMet, CancellationToken cancel, Action firstPointComplete = null) { const int ApproachAngle = 90; const int PrePointDistanceParts = 2; const double GoToPrecisionErrorMet = 20.5; var waitForDetectingAzimuthTime = TimeSpan.FromSeconds(3); var waitInPrePointTime = TimeSpan.FromSeconds(3); var waitForCorrectionTime = TimeSpan.FromSeconds(1); var start0 = start.SetAltitude(0); var stop0 = stop.SetAltitude(0); var azimuth = start0.Azimuth(stop0); var reverseAzimuth = stop0.Azimuth(start0); var loiterRadius = (_planeRadius.Value ?? await _planeRadius.FirstAsync(_ => _.HasValue)).Value; var realLoiterRadius = (int)(loiterRadius + GoToPrecisionErrorMet); var startPrePoint0 = start0.RadialPoint(PrePointDistanceParts * realLoiterRadius, reverseAzimuth); var pointDistanceFromGround = GeoMath.Distance(start0, stop0); var angle = Math.Abs(pointDistanceFromGround) > 0.001 ? GeoMath.RadiansToDegrees(Math.Atan(Math.Abs((start.Altitude) - (stop.Altitude)) / pointDistanceFromGround)) : 0.0; var height = GeoMath.HeightFromGroundRange(GeoMath.Distance(stop0, startPrePoint0), angle); if ((start.Altitude) - (stop.Altitude) < 0) { height = (stop.Altitude) - height; } else { height = (stop.Altitude) + height; } //TODO if (height <= 0) нужно что-то делать!!! if (height <= 0) { _logger.Info($"Impossible fly by line from altitude {start.Altitude}м to altitude {stop.Altitude}m"); return; } var firstPrePoint = startPrePoint0.RadialPoint(PrePointDistanceParts * realLoiterRadius, azimuth + ApproachAngle).SetAltitude(height); var r = await GoToPointUntilReachAzimuth(firstPrePoint, reverseAzimuth - 10, realLoiterRadius, 4, cancel, 2).ConfigureAwait(false); var secondPrePoint = startPrePoint0.RadialPoint(r, azimuth + ApproachAngle).SetAltitude(height); await GoToPointUntilReachAzimuth(secondPrePoint, reverseAzimuth + ApproachAngle - 10, realLoiterRadius, 2, cancel, 2).ConfigureAwait(false); await GoToGlobAndWait(stop, CallbackProgress <double> .Default, realLoiterRadius, cancel).ConfigureAwait(false); }
protected virtual void InitAttitude() { _mavlink.Rtt.RawAttitude.Select(_ => (double)GeoMath.RadiansToDegrees(_.Pitch)).Subscribe(_pitch, DisposeCancel.Token); _mavlink.Rtt.RawAttitude.Select(_ => (double)GeoMath.RadiansToDegrees(_.Roll)).Subscribe(_roll, DisposeCancel.Token); _mavlink.Rtt.RawAttitude.Select(_ => (double)GeoMath.RadiansToDegrees(_.Yaw)).Subscribe(_yaw, DisposeCancel.Token); _mavlink.Rtt.RawAttitude.Select(_ => (double)_.Pitchspeed).Subscribe(_pitchSpeed, DisposeCancel.Token); _mavlink.Rtt.RawAttitude.Select(_ => (double)_.Rollspeed).Subscribe(_rollSpeed, DisposeCancel.Token); _mavlink.Rtt.RawAttitude.Select(_ => (double)_.Yawspeed).Subscribe(_yawSpeed, DisposeCancel.Token); DisposeCancel.Token.Register(() => _pitch.Dispose()); DisposeCancel.Token.Register(() => _roll.Dispose()); DisposeCancel.Token.Register(() => _yaw.Dispose()); DisposeCancel.Token.Register(() => _pitchSpeed.Dispose()); DisposeCancel.Token.Register(() => _rollSpeed.Dispose()); DisposeCancel.Token.Register(() => _yawSpeed.Dispose()); }