44 lines
707 B
C#
44 lines
707 B
C#
namespace DroneData
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{
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public enum StructType : ulong
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{
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None = 0, Head = 1,
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// Output
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DataIMU = 1001, DataPos = 1002,
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// Input
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DataMotor4 = 2001, DataMotor6 = 2002
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};
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public struct DataHead
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{
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public StructType Type;
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public ulong Size;
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}
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public struct XYZ { public float X, Y, Z; }
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public struct DataIMU
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{
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public XYZ Acc, Gyr, Mag;
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}
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public struct DataPos
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{
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public XYZ Local; // Ëîêàëüíûå êîîðäèíàòû
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public float LiDAR; // Äàò÷èê ïîñàäêè
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}
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public struct DataMotor4
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{
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public ulong Count;
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public float UL, UR, DL, DR;
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}
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public struct DataMotor6
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{
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public ulong Count;
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public float UL, UR, LL, RR, DL, DR;
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}
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} |