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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2233 | - | 1 | using System; |
| 2 | using System.Collections.Generic; |
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| 3 | using System.Linq; |
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| 4 | using System.Text; |
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| 5 | using System.Diagnostics; |
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| 6 | |||
| 7 | namespace MKLiveView |
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| 8 | { |
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| 9 | class ExternControl |
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| 10 | { |
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| 11 | byte digital0; |
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| 12 | byte digital1; |
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| 13 | byte remoteVisualization; |
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| 14 | sbyte pitch; |
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| 15 | sbyte yaw; |
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| 16 | sbyte roll; |
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| 17 | byte throttle; |
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| 18 | sbyte high; // affects the pressure sensor according to the MoteCtrl project comments |
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| 19 | byte unused; // free unused byte |
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| 20 | byte frameConfirmation; // confimation |
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| 21 | byte config; // set to 1 to signal new command |
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| 22 | |||
| 23 | public ExternControl(byte[] data) |
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| 24 | { |
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| 25 | Bytes = data; |
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| 26 | } |
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| 27 | |||
| 28 | public ExternControl(sbyte yaw, sbyte pitch, sbyte roll, byte throttle) |
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| 29 | { |
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| 30 | digital0 = 0; |
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| 31 | digital1 = 0; |
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| 32 | remoteVisualization = 0; |
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| 33 | this.pitch = pitch; |
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| 34 | this.roll = roll; |
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| 35 | this.yaw = yaw; |
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| 36 | this.throttle = throttle; |
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| 37 | high = 0; |
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| 38 | unused = 0; |
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| 39 | frameConfirmation = 0; |
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| 40 | config = 1; |
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| 41 | } |
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| 42 | |||
| 43 | public sbyte Pitch |
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| 44 | { |
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| 45 | get { return pitch; } |
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| 46 | set { pitch = value; } |
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| 47 | } |
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| 48 | |||
| 49 | public sbyte Roll |
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| 50 | { |
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| 51 | get { return roll; } |
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| 52 | set { roll = value; } |
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| 53 | } |
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| 54 | |||
| 55 | public sbyte Yaw |
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| 56 | { |
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| 57 | get { return yaw; } |
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| 58 | set { yaw = value; } |
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| 59 | } |
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| 60 | |||
| 61 | public byte Throttle |
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| 62 | { |
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| 63 | get { return throttle; } |
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| 64 | set { throttle = value; } |
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| 65 | } |
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| 66 | |||
| 67 | public byte[] Bytes |
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| 68 | { |
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| 69 | get |
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| 70 | { |
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| 71 | byte[] data = new byte[11]; |
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| 72 | |||
| 73 | data[0] = digital0; |
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| 74 | data[1] = digital1; |
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| 75 | data[2] = remoteVisualization; |
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| 76 | data[3] = (byte)pitch; |
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| 77 | data[4] = (byte)roll; |
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| 78 | data[5] = (byte)yaw; |
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| 79 | data[6] = throttle; |
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| 80 | data[7] = (byte)high; |
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| 81 | data[8] = unused; |
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| 82 | data[9] = frameConfirmation; |
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| 83 | data[10] = config; |
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| 84 | |||
| 85 | return data; |
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| 86 | } |
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| 87 | set |
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| 88 | { |
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| 89 | Debug.Assert(value.Length >= 11); |
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| 90 | |||
| 91 | digital0 = value[0]; |
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| 92 | digital1 = value[1]; |
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| 93 | remoteVisualization = value[2]; |
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| 94 | pitch = (sbyte)value[3]; |
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| 95 | roll = (sbyte)value[4]; |
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| 96 | yaw = (sbyte)value[5]; |
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| 97 | throttle = value[6]; |
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| 98 | high = (sbyte)value[7]; |
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| 99 | unused = value[8]; |
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| 100 | frameConfirmation = value[9]; |
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| 101 | config = value[10]; |
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| 102 | } |
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| 103 | } |
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| 104 | } |
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| 105 | } |