42 lines
611 B
C#
42 lines
611 B
C#
namespace DroneData
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{
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enum StructType : ulong
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{
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// Output
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DataIMU = 1, DataPos = 2,
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// Input
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DataMotor4 = 1001, DataMotor6 = 1002
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};
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public struct DataInfo
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{
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StructType Type;
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ulong Size;
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}
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public struct DataXYZ { float X, Y, Z; }
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public struct DataIMU
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{
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DataXYZ Acc, Gyr, Mag;
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}
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public struct DataPos
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{
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DataXYZ Local; // Ëîêàëüíûå êîîðäèíàòû
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float LiDAR; // Äàò÷èê ïîñàäêè
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}
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public struct DataMotor4
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{
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ulong Count;
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float M1, M2, M3, M4;
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}
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public struct DataMotor6
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{
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ulong Count;
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float M1, M2, M3, M4, M5, M6;
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}
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} |