MissionPlanner.MainV2.joysticksend C# (CSharp) Méthode

        private void joysticksend()
        {
            float rate = 50; // 1000 / 50 = 20 hz
            int count = 0;

            DateTime lastratechange = DateTime.Now;

            joystickthreadrun = true;

            while (joystickthreadrun)
            {
                joysendThreadExited = false;
                //so we know this thread is stil alive.           
                try
                {
                    if (MONO)
                    {
                        log.Error("Mono: closing joystick thread");
                        break;
                    }

                    if (!MONO)
                    {
                        //joystick stuff

                        if (joystick != null && joystick.enabled)
                        {
                            MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();

                            rc.target_component = comPort.MAV.compid;
                            rc.target_system = comPort.MAV.sysid;

                            if (joystick.getJoystickAxis(1) != Joystick.Joystick.joystickaxis.None)
                                rc.chan1_raw = MainV2.comPort.MAV.cs.rcoverridech1;
                            if (joystick.getJoystickAxis(2) != Joystick.Joystick.joystickaxis.None)
                                rc.chan2_raw = MainV2.comPort.MAV.cs.rcoverridech2;
                            if (joystick.getJoystickAxis(3) != Joystick.Joystick.joystickaxis.None)
                                rc.chan3_raw = MainV2.comPort.MAV.cs.rcoverridech3;
                            if (joystick.getJoystickAxis(4) != Joystick.Joystick.joystickaxis.None)
                                rc.chan4_raw = MainV2.comPort.MAV.cs.rcoverridech4;
                            if (joystick.getJoystickAxis(5) != Joystick.Joystick.joystickaxis.None)
                                rc.chan5_raw = MainV2.comPort.MAV.cs.rcoverridech5;
                            if (joystick.getJoystickAxis(6) != Joystick.Joystick.joystickaxis.None)
                                rc.chan6_raw = MainV2.comPort.MAV.cs.rcoverridech6;
                            if (joystick.getJoystickAxis(7) != Joystick.Joystick.joystickaxis.None)
                                rc.chan7_raw = MainV2.comPort.MAV.cs.rcoverridech7;
                            if (joystick.getJoystickAxis(8) != Joystick.Joystick.joystickaxis.None)
                                rc.chan8_raw = MainV2.comPort.MAV.cs.rcoverridech8;

                            if (lastjoystick.AddMilliseconds(rate) < DateTime.Now)
                            {
                                /*
                                if (MainV2.comPort.MAV.cs.rssi > 0 && MainV2.comPort.MAV.cs.remrssi > 0)
                                {
                                    if (lastratechange.Second != DateTime.Now.Second)
                                    {
                                        if (MainV2.comPort.MAV.cs.txbuffer > 90)
                                        {
                                            if (rate < 20)
                                                rate = 21;
                                            rate--;

                                            if (MainV2.comPort.MAV.cs.linkqualitygcs < 70)
                                                rate = 50;
                                        }
                                        else
                                        {
                                            if (rate > 100)
                                                rate = 100;
                                            rate++;
                                        }

                                        lastratechange = DateTime.Now;
                                    }
                                 
                                }
                                */
                                //                                Console.WriteLine(DateTime.Now.Millisecond + " {0} {1} {2} {3} {4}", rc.chan1_raw, rc.chan2_raw, rc.chan3_raw, rc.chan4_raw,rate);

                                //Console.WriteLine("Joystick btw " + comPort.BaseStream.BytesToWrite);

                                if (!comPort.BaseStream.IsOpen)
                                    continue;

                                if (comPort.BaseStream.BytesToWrite < 50)
                                {
                                    if (sitl)
                                    {
                                        MissionPlanner.Controls.SITL.rcinput();
                                    }
                                    else
                                    {
                                        comPort.sendPacket(rc, rc.target_system, rc.target_component);
                                    }
                                    count++;
                                    lastjoystick = DateTime.Now;
                                }
                            }
                        }
                    }
                    Thread.Sleep(20);
                }
                catch
                {
                } // cant fall out
            }
            joysendThreadExited = true; //so we know this thread exited.    
        }