update

DroneSimulator/DroneData.cs

@@ -0,0 +1,44 @@
+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; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    public float LiDAR; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  }
+
+  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;
+  }
+}