Class MavlinkCommand

Namespace

Pamoja.Mavlink

Assembly

Pamoja.Mavlink.dll

Tracks one command awaiting its acknowledgement.

public sealed class MavlinkCommand : IDisposable

Inheritance

object

MavlinkCommand

Implements

IDisposable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

MavlinkCommand(ushort, byte)

Starts tracking a command.

public MavlinkCommand(ushort command, byte maxRetries = 5)

Parameters

command ushort

The MAV_CMD id being sent.

maxRetries byte

How many times the command may be resent after a timeout before the caller gives up.

Properties

Command

The command id being tracked.

public ushort Command { get; }

Property Value

ushort

Confirmation

The confirmation count to stamp on the command being sent: zero for the first transmission, incremented on each retransmission.

public byte Confirmation { get; }

Property Value

byte

Methods

Dispose()

Releases the tracker.

public void Dispose()

OnFrame(MavlinkFrame)

Classifies an incoming frame against the command in flight.

public MavlinkAckOutcome? OnFrame(MavlinkFrame frame)

Parameters

frame MavlinkFrame

The frame off the link.

Returns

MavlinkAckOutcome?

The outcome, or null if the frame is not a COMMAND_ACK.

OnTimeout()

Records a timeout and reports whether the command may be resent.

public byte? OnTimeout()

Returns

byte?

The new confirmation count to stamp on the resend, or null once the retry budget is exhausted.