39 lines
1.4 KiB
C#
39 lines
1.4 KiB
C#
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using Plane.CopterManagement;
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using Plane.Messaging;
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namespace Plane.CopterControllers
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{
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/// <summary>
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/// 利用特定方式控制飞行器的控制器的基类。子类应该通过响应事件/消息来控制飞行器，而不是提供 public 方法。
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/// </summary>
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public abstract class CopterControllerBase
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{
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/// <summary>
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/// 表示左右转弯的中间值（即通道2的值，通道2的取值范围为1100~1900），小于中间值为向前，大于中间值为向后。
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/// </summary>
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protected const ushort PitchMedianValue = 1500;
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/// <summary>
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/// 表示左右转弯的中间值（即通道1的值，通道1的取值范围为1100~1900），小于中间值为转左，大于中间值为转右。
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/// </summary>
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protected const ushort RollMedianValue = 1500;
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protected ICopterManager _copterManager;
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protected IPLMessenger _messenger;
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protected CopterControllerBase(IPLMessenger messenger, ICopterManager copterManager)
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{
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_messenger = messenger;
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_copterManager = copterManager;
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}
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/// <summary>
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/// 获取或设置一个值，指示是否激活此控制器。
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/// </summary>
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public virtual bool IsEnabled { get; set; }
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public abstract CopterControllerTypes Type { get; }
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}
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}
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