//
        // Summary:
        //     Thread function for writing commander packets via BTH
        //     Writes as fast as it can in a tight loop
        private async void CommanderSetpointThread(CancellationToken cancellationToken)
        {
            // Write commander packets as fast as possible in a loop until cancelled
            while (!cancellationToken.IsCancellationRequested)
            {
                FlightControlAxes axes = await flightController.GetFlightControlAxes();

                await bthCrtp.WriteCommanderPacket(
                    (float)(axes.roll * maxPitchRollRate),
                    (float)(axes.pitch * maxPitchRollRate),
                    (float)(axes.yaw * maxYawRate),
                    (ushort)(axes.thrust * maxThrustPercent * MaxThrust));
            }
        }
示例#2
0
        //
        // Summary:
        //     Thread function for writing commander packets via BTH
        //     Writes as fast as it can in a tight loop
        private async void CommanderSetpointThread(CancellationToken cancellationToken)
        {
            // Write commander packets as fast as possible in a loop until cancelled
            while (!cancellationToken.IsCancellationRequested)
            {
                FlightControlAxes axes = await flightController.GetFlightControlAxes();

                // Use the emulated CPPM commander type to allow arming in Betaflight
                await bthCrtp.WriteCppmCommanderPacket(
                    (ushort)((axes.roll * 500) + 1500),
                    (ushort)((axes.pitch * 500) + 1500),
                    (ushort)((axes.yaw * 500) + 1500),
                    (ushort)((axes.thrust * 1000 * maxThrustPercent) + 1000),
                    (ushort)(axes.isSelfLevelEnabled ? 2000 : 1000),
                    (ushort)(axes.isArmed ? 2000 : 1000));
            }
        }