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update

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This commit is contained in:
Sergey Sklyarov
2025-05-22 01:47:54 +03:00
parent e0f3e3db19
commit 90cec037eb
9 changed files with 553 additions and 176 deletions
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61
DroneClient/DroneData.cs
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@ -1,4 +1,4 @@
using System.Runtime.InteropServices;
using System.Runtime.InteropServices;
namespace DroneData
{
@ -12,10 +12,13 @@ namespace DroneData
None = 0, Head = 1,
// Output
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005, DataBar = 1006, DataOF = 1007,
// Input
DataMotor4 = 2001, DataMotor6 = 2002
DataMotor4 = 2001, DataMotor6 = 2002,
// State
DataQuat = 3001,
};
public struct DataHead
@ -25,7 +28,7 @@ namespace DroneData
public DataMode Mode;
public DataType Type;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Общее время
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataHead));
}
@ -37,7 +40,7 @@ namespace DroneData
public DataHead Head;
public XYZ Acc;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataAcc));
}
@ -47,7 +50,7 @@ namespace DroneData
public DataHead Head;
public XYZ Gyr;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataGyr));
}
@ -57,31 +60,51 @@ namespace DroneData
public DataHead Head;
public XYZ Mag;
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataMag));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataRange
{
public DataHead Head;
public float LiDAR; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public float LiDAR; // Датчик посадки
public uint Time; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataRange));
}
public struct DataLocal
{
public DataHead Head;
public XYZ Local; // Локальные координаты
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataLocal));
}
public struct DataBar
{
public DataHead Head;
public float Pressure; // Давление
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataBar));
}
public struct DataOF
{
public DataHead Head;
public float X, Y; // Угловой сдвиг
public uint Time; // Последнее время изменения данных
static public int StrLen = Marshal.SizeOf(typeof(DroneData.DataOF));
}
public struct DataMotor4
{
public DataHead Head;