Update

DroneClientCpp/DroneData.h

@@ -15,18 +15,24 @@ namespace DroneData {
 
     public enum class DataType : unsigned short
     {
-        None = 0, Head = 1,
-        DataIMU = 1001, DataPos = 1002,
-        DataMotor4 = 2001, DataMotor6 = 2002
+      None = 0, Head = 1,
+
+      // Output
+      DataAcc = 1001, DataGyr = 1002, DataMag = 1003, DataRange = 1004, DataLocal = 1005,
+
+      // Input
+      DataMotor4 = 2001, DataMotor6 = 2002
     };
 
     public value struct DataHead
     {
     public:
-        int Size;
+      long Size;
         DataMode Mode;
         DataType Type;
 
+        unsigned long Time;
+
         static const int StrLen = sizeof(DataHead);
     };
 
@@ -36,30 +42,65 @@ namespace DroneData {
         float X, Y, Z;
     };
 
-    public value struct DataIMU
+    public value struct DataAcc
     {
     public:
         DataHead Head;
-        XYZ Acc, Gyr, Mag;
+        XYZ Acc;
 
-        static const int StrLen = sizeof(DataIMU);
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataAcc);
     };
 
-    public value struct DataPos
+    public value struct DataGyr
+    {
+    public:
+      DataHead Head;
+      XYZ Gyr;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataGyr);
+    };
+
+    public value struct DataMag
+    {
+    public:
+      DataHead Head;
+      XYZ Mag;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataMag);
+    };
+
+    public value struct DataRange
     {
     public:
         DataHead Head;
-        XYZ Local;
         float LiDAR;
 
-        static const int StrLen = sizeof(DataPos);
+        unsigned long Time;
+
+        static const int StrLen = sizeof(DataRange);
+    };
+
+    public value struct DataLocal
+    {
+    public:
+      DataHead Head;
+      XYZ Local;
+
+      unsigned long Time;
+
+      static const int StrLen = sizeof(DataLocal);
     };
 
     public value struct DataMotor4
     {
     public:
         DataHead Head;
-        unsigned long long Count;
         float UL, UR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor4);
@@ -69,7 +110,6 @@ namespace DroneData {
     {
     public:
         DataHead Head;
-        unsigned long long Count;
         float UL, UR, LL, RR, DL, DR;
 
         static const int StrLen = sizeof(DataMotor6);