62 lines
2.2 KiB
C#
62 lines
2.2 KiB
C#
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using Plane.Protocols;
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using System.Collections.Generic;
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using static Plane.Protocols.MAVLink;
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namespace Plane.Copters
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{
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public partial class PLCopter
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{
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private void AnalyzeMissionAckPacket(byte[] buffer)
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{
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var packet = buffer.ByteArrayToStructure<mavlink_mission_ack_t>(6);
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_writeMissionListResult = (MAV_MISSION_RESULT)packet.type;
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}
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private void AnalyzeMissionCountPacket(byte[] buffer)
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{
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var packet = buffer.ByteArrayToStructure<mavlink_mission_count_t>(6);
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MissionCount = packet.count;
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}
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private void AnalyzeMissionItemPacket(byte[] buffer)
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{
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var packet = buffer.ByteArrayToStructure<mavlink_mission_item_t>(6);
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var mission = new Mission
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{
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Altitude = packet.z,
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Command = (FlightCommand)packet.command,
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Latitude = packet.x,
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Longitude = packet.y,
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Param1 = packet.param1,
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Param2 = packet.param2,
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Param3 = packet.param3,
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Param4 = packet.param4,
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Sequence = packet.seq
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};
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if (_missionList == null)
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{
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if (mission.Sequence == 0)
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{
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_missionList = new List<IMission> { mission };
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}
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}
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else if (_missionList.Count > mission.Sequence) _missionList[mission.Sequence] = mission;
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else if (_missionList.Count == mission.Sequence) _missionList.Add(mission);
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RaiseMissionItemReceived(new MissionItemReceivedEventArgs(mission));
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}
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private void AnalyzeMissionRequestPacket(byte[] buffer)
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{
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var packet = buffer.ByteArrayToStructure<mavlink_mission_request_t>(6);
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_copterRequestingMissionSeq = packet.seq;
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}
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private void AnalyzeSetPairPacket(byte[] buffer)
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{
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IsPairing = false;
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var packet = buffer.ByteArrayToStructure<mavlink_set_pair_t>(6);
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RaisePairingCompleted(new PairingCompletedEventArgs(packet.pair == 1, packet.RxID, packet.TxID));
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}
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}
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}
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