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; |
} |
} |
*/ |