namespace DroneData
{
  public enum StructType : ulong
  { 
    None = 0, Head = 1,

    // Output
    DataIMU = 1001, DataPos = 1002, 

    // Input
    DataMotor4 = 2001, DataMotor6 = 2002
  };

  public struct DataHead
  {
    public StructType Type;
    public ulong Size;
  }

  public struct XYZ { public float X, Y, Z; }

  public struct DataIMU
  {
    public XYZ Acc, Gyr, Mag;
  }

  public struct DataPos
  {
    public XYZ Local; // Локальные координаты
    public float LiDAR; // Датчик посадки
  }

  public struct DataMotor4
  {
    public ulong Count;
    public float UL, UR, DL, DR;
  }

  public struct DataMotor6
  {
    public ulong Count;
    public float UL, UR, LL, RR, DL, DR;
  }
}