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| Rev | Author | Line No. | Line |
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| 1541 | - | 1 | package dongfang.mkt.frames; |
| 2 | |||
| 3 | import java.io.IOException; |
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| 4 | |||
| 5 | import dongfang.mkt.RequestFrameVisitor; |
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| 6 | |||
| 7 | /* |
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| 8 | uint8_t digital[2]; |
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| 9 | uint8_t remoteButtons; |
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| 10 | int8_t pitch; |
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| 11 | int8_t roll; |
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| 12 | int8_t yaw; |
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| 13 | uint8_t throttle; |
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| 14 | int8_t height; |
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| 15 | uint8_t free; |
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| 16 | uint8_t frame; |
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| 17 | uint8_t config; |
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| 18 | */ |
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| 19 | public class ExternalControlRequestFrame extends RequestFrame { |
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| 20 | public static final int COMMAND_NONE = 0; |
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| 21 | public static final int COMMAND_START = 6; |
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| 22 | public static final int COMMAND_STOP = 8; |
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| 23 | public static final int COMMAND_GYROCAL = 2; |
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| 24 | public static final int COMMAND_ACCCAL = 4; |
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| 25 | |||
| 26 | int[] digital = new int[2];// unsigned byte. |
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| 27 | int remoteButtons; // unsigned byte. |
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| 28 | int pitch; // signed byte. |
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| 29 | int roll; // signed byte. |
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| 30 | int yaw; // signed byte. |
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| 31 | int throttle; // unsigned byte. |
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| 32 | int height; // signed byte (!). |
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| 33 | int command; // unsigned byte. Called "free" in MK code. |
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| 34 | int frameNum; // unsigned byte. |
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| 35 | int argument; // unsigned byte. Called "config" in MK code. |
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| 36 | |||
| 37 | ExternalControlRequestFrame(int address) { |
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| 38 | super(address); |
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| 39 | } |
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| 40 | |||
| 41 | public int[] getDigital() { |
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| 42 | return digital; |
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| 43 | } |
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| 44 | |||
| 45 | public void setDigital(int[] digital) { |
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| 46 | this.digital = digital; |
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| 47 | } |
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| 48 | |||
| 49 | public int getRemoteButtons() { |
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| 50 | return remoteButtons; |
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| 51 | } |
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| 52 | |||
| 53 | public void setRemoteButtons(int remoteButtons) { |
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| 54 | this.remoteButtons = remoteButtons; |
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| 55 | } |
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| 56 | |||
| 57 | public int getPitch() { |
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| 58 | return pitch; |
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| 59 | } |
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| 60 | |||
| 61 | public void setPitch(int pitch) { |
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| 62 | this.pitch = pitch; |
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| 63 | } |
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| 64 | |||
| 65 | public int getRoll() { |
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| 66 | return roll; |
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| 67 | } |
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| 68 | |||
| 69 | public void setRoll(int roll) { |
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| 70 | this.roll = roll; |
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| 71 | } |
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| 72 | |||
| 73 | public int getYaw() { |
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| 74 | return yaw; |
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| 75 | } |
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| 76 | |||
| 77 | public void setYaw(int yaw) { |
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| 78 | this.yaw = yaw; |
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| 79 | } |
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| 80 | |||
| 81 | public int getThrottle() { |
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| 82 | return throttle; |
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| 83 | } |
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| 84 | |||
| 85 | public void setThrottle(int throttle) { |
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| 86 | this.throttle = throttle; |
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| 87 | } |
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| 88 | |||
| 89 | public int getHeight() { |
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| 90 | return height; |
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| 91 | } |
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| 92 | |||
| 93 | public void setHeight(int height) { |
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| 94 | this.height = height; |
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| 95 | } |
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| 96 | |||
| 97 | public int getCommand() { |
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| 98 | return command; |
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| 99 | } |
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| 100 | |||
| 101 | public void setCommand(int command) { |
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| 102 | this.command = command; |
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| 103 | } |
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| 104 | |||
| 105 | public int getFrameNum() { |
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| 106 | return frameNum; |
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| 107 | } |
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| 108 | |||
| 109 | public void setFrameNum(int frameNum) { |
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| 110 | this.frameNum = frameNum; |
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| 111 | } |
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| 112 | |||
| 113 | public int getArgument() { |
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| 114 | return argument; |
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| 115 | } |
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| 116 | |||
| 117 | public void setArgument(int argument) { |
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| 118 | this.argument = argument; |
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| 119 | } |
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| 120 | |||
| 121 | public void start() { |
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| 122 | command = COMMAND_START; |
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| 123 | } |
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| 124 | |||
| 125 | public void stop() { |
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| 126 | command = COMMAND_STOP; |
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| 127 | } |
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| 128 | |||
| 129 | public void gyroCal() { |
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| 130 | command = COMMAND_GYROCAL; |
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| 131 | } |
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| 132 | |||
| 133 | public void accCal() { |
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| 134 | command = COMMAND_ACCCAL; |
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| 135 | } |
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| 136 | |||
| 137 | @Override |
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| 138 | public void accept(RequestFrameVisitor o) throws IOException { |
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| 139 | o.visit(this); |
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| 140 | } |
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| 141 | } |