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fix: update AsvMavlinkVersion and validate azimuth values #256

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merged 1 commit into from
Dec 13, 2023
Merged

fix: update AsvMavlinkVersion and validate azimuth values #256

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78 changes: 0 additions & 78 deletions src/Asv.Drones.Gui.Core/Shell/Pages/Map/Planing/Mission/MissionItemHelper.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,84 +6,6 @@ namespace Asv.Drones.Gui.Core;

public static class MissionItemHelper
{
//TODO: Add or replace in Mavlink AddNavMissionItem, AddTakeOffMissionItem, AddLandMissionItem, AddRoiMissionItem.

/// <summary>
/// Adds navigation waypoint to MissionClients collection
/// </summary>
/// <param name="vehicle">vehicle client</param>
/// <param name="point">item location</param>
/// <param name="holdTime">time in seconds</param>
/// <param name="acceptRadius">radius in meters</param>
/// <param name="passRadius">radius in meters</param>
/// <param name="yawAngle">angle in degrees</param>
/// <returns>MissionItem creation result</returns>
public static MissionItem AddNavMissionItem(this IMissionClientEx vehicle, GeoPoint point,
float holdTime = 0, float acceptRadius = 0, float passRadius = 0, float yawAngle = float.NaN)
{
MissionItem missionItem = vehicle.Create();
missionItem.Location.OnNext(point);
missionItem.AutoContinue.OnNext(true);
missionItem.Command.OnNext(MavCmd.MavCmdNavWaypoint);
missionItem.Current.OnNext(false);
missionItem.Frame.OnNext(MavFrame.MavFrameGlobalInt);
missionItem.MissionType.OnNext(MavMissionType.MavMissionTypeMission);
missionItem.Param1.OnNext(holdTime);
missionItem.Param2.OnNext(acceptRadius);
missionItem.Param3.OnNext(passRadius);
missionItem.Param4.OnNext(yawAngle);
return missionItem;
}

public static MissionItem AddTakeOffMissionItem(this IMissionClientEx vehicle, GeoPoint point, float pitch = 0, float yawAngle = float.NaN)
{
MissionItem missionItem = vehicle.Create();
missionItem.Location.OnNext(point);
missionItem.AutoContinue.OnNext(true);
missionItem.Command.OnNext(MavCmd.MavCmdNavTakeoff);
missionItem.Current.OnNext(false);
missionItem.Frame.OnNext(MavFrame.MavFrameGlobalInt);
missionItem.MissionType.OnNext(MavMissionType.MavMissionTypeMission);
missionItem.Param1.OnNext(pitch);
missionItem.Param2.OnNext(0.0f);
missionItem.Param3.OnNext(0.0f);
missionItem.Param4.OnNext(yawAngle);
return missionItem;
}

public static MissionItem AddLandMissionItem(this IMissionClientEx vehicle, GeoPoint point, float abortAltitude = 0,
PrecisionLandMode landMode = PrecisionLandMode.PrecisionLandModeDisabled, float yawAngle = float.NaN)
{
MissionItem missionItem = vehicle.Create();
missionItem.Location.OnNext(point);
missionItem.AutoContinue.OnNext(true);
missionItem.Command.OnNext(MavCmd.MavCmdNavLand);
missionItem.Current.OnNext(false);
missionItem.Frame.OnNext(MavFrame.MavFrameGlobalInt);
missionItem.MissionType.OnNext(MavMissionType.MavMissionTypeMission);
missionItem.Param1.OnNext(abortAltitude);
missionItem.Param2.OnNext((float)landMode);
missionItem.Param3.OnNext(0.0f);
missionItem.Param4.OnNext(yawAngle);
return missionItem;
}

public static MissionItem AddRoiMissionItem(this IMissionClientEx vehicle, GeoPoint point, MavRoi roiMode = MavRoi.MavRoiLocation, float wpIndex = 0, float roiIndex = 0)
{
MissionItem missionItem = vehicle.Create();
missionItem.Location.OnNext(point);
missionItem.AutoContinue.OnNext(true);
missionItem.Command.OnNext(MavCmd.MavCmdDoSetRoi);
missionItem.Current.OnNext(false);
missionItem.Frame.OnNext(MavFrame.MavFrameGlobalInt);
missionItem.MissionType.OnNext(MavMissionType.MavMissionTypeMission);
missionItem.Param1.OnNext((float)roiMode);
missionItem.Param2.OnNext(wpIndex);
missionItem.Param3.OnNext(roiIndex);
missionItem.Param4.OnNext(0.0f);
return missionItem;
}

public static PlaningMissionPointModel TransformMissionItemToPointModel(this MissionItem missionItem)
{
var pointType = GetMissionPointTypeFromMavlinkCommand(missionItem.Command.Value);
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4 changes: 2 additions & 2 deletions src/Asv.Drones.Gui.Custom.props
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,9 @@
<PropertyGroup>
<Nullable>enable</Nullable>
<ProductVersion>0.2.1</ProductVersion>
<AvaloniaVersion>11.0.5</AvaloniaVersion>
<AvaloniaVersion>11.0.5</AvaloniaVersion>ы
<AsvCommonVersion>1.13.1</AsvCommonVersion>
<AsvMavlinkVersion>3.6.0-alpha09</AsvMavlinkVersion>
<AsvMavlinkVersion>3.6.0-alpha11</AsvMavlinkVersion>
<FluentAvaloniaUIVersion>2.0.0</FluentAvaloniaUIVersion>
<ReactiveUIVersion>19.3.3</ReactiveUIVersion>
<MaterialIconsAvaloniaVersion>2.0.1</MaterialIconsAvaloniaVersion>
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