| 4,6 → 4,8 |
|---|
| import java.io.InputStream; |
| import java.io.OutputStream; |
| |
| import dongfang.mkt.datatype.GPSBearingAndRange; |
| import dongfang.mkt.datatype.GPSPosition; |
| import dongfang.mkt.frames.AllDisplaysResponseFrame; |
| import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
| import dongfang.mkt.frames.AttitudeDataResponseFrame; |
| 13,8 → 15,6 |
|---|
| import dongfang.mkt.frames.DebugResponseFrame; |
| import dongfang.mkt.frames.MotorTestResponseFrame; |
| import dongfang.mkt.frames.OSDDataResponseFrame; |
| import dongfang.mkt.frames.OSDDataResponseFrame.GPSDistanceAndBearing; |
| import dongfang.mkt.frames.OSDDataResponseFrame.GPSPosition; |
| import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
| import dongfang.mkt.frames.ResponseFrame; |
| import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
| 23,6 → 23,7 |
|---|
| import dongfang.mkt.frames.VariablesResponseFrame; |
| import dongfang.mkt.frames.VersionResponseFrame; |
| |
| /* |
| public class MKInputStream extends InputStream { |
| int readByteCnt; |
| class MKDataInputStream { |
| 260,7 → 261,7 |
|---|
| pos.setStatus(base64InputStream.readByte()); |
| f.setTargetPosition(pos); |
| |
| GPSDistanceAndBearing rnb = new GPSDistanceAndBearing(); |
| GPSBearingAndRange rnb = new GPSBearingAndRange(); |
| rnb.setDistance(base64InputStream.readWord()); |
| rnb.setBearing(base64InputStream.readSignedWord()); |
| f.setCurrentToTarget(rnb); |
| 272,7 → 273,7 |
|---|
| pos.setStatus(base64InputStream.readByte()); |
| f.setHomePosition(pos); |
| |
| rnb = new GPSDistanceAndBearing(); |
| rnb = new GPSBearingAndRange(); |
| rnb.setDistance(base64InputStream.readWord()); |
| rnb.setBearing(base64InputStream.readSignedWord()); |
| f.setCurrentToHome(rnb); |
| 320,7 → 321,7 |
|---|
| result = f; |
| break; |
| } |
| /* |
| / * |
| * We have a collision with the 'x' token: Also used for VariablesRequest. |
| case 'x': { |
| LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
| 330,7 → 331,7 |
|---|
| result = f; |
| break; |
| } |
| */ |
| * / |
| case 'V': { |
| VersionResponseFrame f = new VersionResponseFrame(address); |
| f.setSWMajor(base64InputStream.readByte()); |
| 353,13 → 354,13 |
|---|
| case 'w': { |
| SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
| // do stuff. |
| /* |
| / * |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
| ToMk3Mag.CalState = compassCalState; |
| */ |
| * / |
| // Waste 8 bytes to make CRC match. |
| base64InputStream.readBytes(8); |
| result = f; |
| 399,3 → 400,4 |
|---|
| return result; |
| } |
| } |
| */ |