WebSVN - Projects - Diff - Rev 1698 and 1699 - /dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ExternalControlRequestFrame.java


package dongfang.mkt.frames;
 
import java.io.IOException;
 
import dongfang.mkt.RequestFrameVisitor;
 
 
 
 
 
 
 
 
 
 
 
 
 
 
public class ExternalControlRequestFrame extends RequestFrame {
        public static final int COMMAND_NONE = 0;
        public static final int COMMAND_GYROCAL = 1;
        public static final int COMMAND_ACCCAL = 2;
        public static final int COMMAND_GYRO_ACC_CAL = 3;
        public static final int COMMAND_STOP = 10;
        public static final int COMMAND_START = 11;
       
        int[] digital = new int[2];// unsigned byte.
        int remoteButtons;              // unsigned byte.
        int pitch;                              // signed byte.
        int roll;                               // signed byte.
        int     yaw;                            // signed byte.
        int throttle;                   // unsigned byte.
        int height;                             // signed byte (!).
        int command;                    // unsigned byte. Called "free" in MK code.
        int frameNum;                   // unsigned byte.
        int argument;                   // unsigned byte. Called "config" in MK code.
 
        public ExternalControlRequestFrame() {
                super(FC_ADDRESS);
        }
 
        public int[] getDigital() {
                return digital;
        }
 
        public void setDigital(int[] digital) {
                this.digital = digital;
        }
 
        public int getRemoteButtons() {
                return remoteButtons;
        }
 
        public void setRemoteButtons(int remoteButtons) {
                this.remoteButtons = remoteButtons;
        }
 
        public int getPitch() {
                return pitch;
        }
 
        public void setPitch(int pitch) {
                this.pitch = pitch;
        }
 
        public int getRoll() {
                return roll;
        }
 
        public void setRoll(int roll) {
                this.roll = roll;
        }
 
        public int getYaw() {
                return yaw;
        }
 
        public void setYaw(int yaw) {
                this.yaw = yaw;
        }
 
        public int getThrottle() {
                return throttle;
        }
 
        public void setThrottle(int throttle) {
                this.throttle = throttle;
        }
 
        public int getHeight() {
                return height;
        }
 
        public void setHeight(int height) {
                this.height = height;
        }
 
        public int getCommand() {
                return command;
        }
 
        public void setCommand(int command) {
                this.command = command;
        }
 
        public int getFrameNum() {
                return frameNum;
        }
 
        public void setFrameNum(int frameNum) {
                this.frameNum = frameNum;
        }
 
        public int getArgument() {
                return argument;
        }
 
        public void setArgument(int argument) {
                this.argument = argument;
        }
       
        public void start() {
                command = COMMAND_START;
        }
 
        public void stop() {
                command = COMMAND_STOP;
        }
 
        public void gyroCal() {
                command = COMMAND_GYROCAL;
        }
 
        public void accCal() {
                command = COMMAND_ACCCAL;
        }
 
        @Override
        public void accept(RequestFrameVisitor o) throws IOException {
                o.visit(this);
        }
}

Rev 1698	Rev 1699
1	package dongfang.mkt.frames;	1	package dongfang.mkt.frames;
2		2
3	import java.io.IOException;	3	import java.io.IOException;
4		4
5	import dongfang.mkt.RequestFrameVisitor;	5	import dongfang.mkt.RequestFrameVisitor;
6		-
7		-
8	/*	-
9	uint8_t digital[2];	-
10	uint8_t remoteButtons;	-
11	int8_t pitch;	-
12	int8_t roll;	-
13	int8_t yaw;	-
14	uint8_t throttle;	-
15	int8_t height;	-
16	uint8_t free;	-
17	uint8_t frame;	-
18	uint8_t config;	-
19	*/	6
20	public class ExternalControlRequestFrame extends RequestFrame {	7	public class ExternalControlRequestFrame extends RequestFrame {
21	public static final int COMMAND_NONE = 0;	8	public static final int COMMAND_NONE = 0;
22	public static final int COMMAND_START = 6;	9	public static final int COMMAND_GYROCAL = 1;
23	public static final int COMMAND_STOP = 8;	10	public static final int COMMAND_ACCCAL = 2;
-		11	public static final int COMMAND_GYRO_ACC_CAL = 3;
24	public static final int COMMAND_GYROCAL = 2;	12	public static final int COMMAND_STOP = 10;
25	public static final int COMMAND_ACCCAL = 4;	13	public static final int COMMAND_START = 11;
26		14
27	int[] digital = new int[2];// unsigned byte.	15	int[] digital = new int[2];// unsigned byte.
28	int remoteButtons; // unsigned byte.	16	int remoteButtons; // unsigned byte.
29	int pitch; // signed byte.	17	int pitch; // signed byte.
30	int roll; // signed byte.	18	int roll; // signed byte.
31	int yaw; // signed byte.	19	int yaw; // signed byte.
32	int throttle; // unsigned byte.	20	int throttle; // unsigned byte.
33	int height; // signed byte (!).	21	int height; // signed byte (!).
34	int command; // unsigned byte. Called "free" in MK code.	22	int command; // unsigned byte. Called "free" in MK code.
35	int frameNum; // unsigned byte.	23	int frameNum; // unsigned byte.
36	int argument; // unsigned byte. Called "config" in MK code.	24	int argument; // unsigned byte. Called "config" in MK code.
37		25
38	public ExternalControlRequestFrame() {	26	public ExternalControlRequestFrame() {
39	super(FC_ADDRESS);	27	super(FC_ADDRESS);
40	}	28	}
41		29
42	public int[] getDigital() {	30	public int[] getDigital() {
43	return digital;	31	return digital;
44	}	32	}
45		33
46	public void setDigital(int[] digital) {	34	public void setDigital(int[] digital) {
47	this.digital = digital;	35	this.digital = digital;
48	}	36	}
49		37
50	public int getRemoteButtons() {	38	public int getRemoteButtons() {
51	return remoteButtons;	39	return remoteButtons;
52	}	40	}
53		41
54	public void setRemoteButtons(int remoteButtons) {	42	public void setRemoteButtons(int remoteButtons) {
55	this.remoteButtons = remoteButtons;	43	this.remoteButtons = remoteButtons;
56	}	44	}
57		45
58	public int getPitch() {	46	public int getPitch() {
59	return pitch;	47	return pitch;
60	}	48	}
61		49
62	public void setPitch(int pitch) {	50	public void setPitch(int pitch) {
63	this.pitch = pitch;	51	this.pitch = pitch;
64	}	52	}
65		53
66	public int getRoll() {	54	public int getRoll() {
67	return roll;	55	return roll;
68	}	56	}
69		57
70	public void setRoll(int roll) {	58	public void setRoll(int roll) {
71	this.roll = roll;	59	this.roll = roll;
72	}	60	}
73		61
74	public int getYaw() {	62	public int getYaw() {
75	return yaw;	63	return yaw;
76	}	64	}
77		65
78	public void setYaw(int yaw) {	66	public void setYaw(int yaw) {
79	this.yaw = yaw;	67	this.yaw = yaw;
80	}	68	}
81		69
82	public int getThrottle() {	70	public int getThrottle() {
83	return throttle;	71	return throttle;
84	}	72	}
85		73
86	public void setThrottle(int throttle) {	74	public void setThrottle(int throttle) {
87	this.throttle = throttle;	75	this.throttle = throttle;
88	}	76	}
89		77
90	public int getHeight() {	78	public int getHeight() {
91	return height;	79	return height;
92	}	80	}
93		81
94	public void setHeight(int height) {	82	public void setHeight(int height) {
95	this.height = height;	83	this.height = height;
96	}	84	}
97		85
98	public int getCommand() {	86	public int getCommand() {
99	return command;	87	return command;
100	}	88	}
101		89
102	public void setCommand(int command) {	90	public void setCommand(int command) {
103	this.command = command;	91	this.command = command;
104	}	92	}
105		93
106	public int getFrameNum() {	94	public int getFrameNum() {
107	return frameNum;	95	return frameNum;
108	}	96	}
109		97
110	public void setFrameNum(int frameNum) {	98	public void setFrameNum(int frameNum) {
111	this.frameNum = frameNum;	99	this.frameNum = frameNum;
112	}	100	}
113		101
114	public int getArgument() {	102	public int getArgument() {
115	return argument;	103	return argument;
116	}	104	}
117		105
118	public void setArgument(int argument) {	106	public void setArgument(int argument) {
119	this.argument = argument;	107	this.argument = argument;
120	}	108	}
121		109
122	public void start() {	110	public void start() {
123	command = COMMAND_START;	111	command = COMMAND_START;
124	}	112	}
125		113
126	public void stop() {	114	public void stop() {
127	command = COMMAND_STOP;	115	command = COMMAND_STOP;
128	}	116	}
129		117
130	public void gyroCal() {	118	public void gyroCal() {
131	command = COMMAND_GYROCAL;	119	command = COMMAND_GYROCAL;
132	}	120	}
133		121
134	public void accCal() {	122	public void accCal() {
135	command = COMMAND_ACCCAL;	123	command = COMMAND_ACCCAL;
136	}	124	}
137		125
138	@Override	126	@Override
139	public void accept(RequestFrameVisitor o) throws IOException {	127	public void accept(RequestFrameVisitor o) throws IOException {
140	o.visit(this);	128	o.visit(this);
141	}	129	}
142	}	130	}

Subversion Repositories Projects

(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ExternalControlRequestFrame.java - Rev 1698 → 1699