/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/AttitudeDataResponseFrame.java |
---|
1,12 → 1,9 |
package dongfang.mkt.frames; |
public class AttitudeDataResponseFrame extends ResponseFrame { |
// signed int Winkel[3]; // nick, roll, compass in 0,1� |
// signed char reserve[8]; |
private int pitch; |
private int roll; |
private int heading; |
private int[] expansion; |
private float[] attitude; |
private float[] rates; |
private float[] acc; |
public AttitudeDataResponseFrame(int address) { |
super(address); |
17,35 → 14,34 |
return r instanceof AttitudeDataRequestFrame; |
} |
public int getPitch() { |
return pitch; |
public float[] getAttitude() { |
return attitude; |
} |
public void setPitch(int pitch) { |
this.pitch = pitch; |
public void setAttitude(float[] attitude) { |
this.attitude = attitude; |
} |
public int getRoll() { |
return roll; |
public float[] getRates() { |
return rates; |
} |
public void setRoll(int roll) { |
this.roll = roll; |
public void setRates(float[] rates) { |
this.rates = rates; |
} |
public int getHeading() { |
return heading; |
public float[] getAcc() { |
return acc; |
} |
public void setHeading(int heading) { |
this.heading = heading; |
public void setAcc(float[] acc) { |
this.acc = acc; |
} |
public int[] getExpansion() { |
return expansion; |
public String toString() { |
String result = "pitch: " + attitude[0] + ", roll: " + attitude[1] + ", yaw: " + attitude[2]; |
result += ", pitchRate: " + rates[0] + ", rollRate: " + rates[1] + ", yawRate: " + rates[2]; |
result += ", X: " + acc[0] + ", Y: " + acc[1] + ", Z: " + acc[2]; |
return result; |
} |
public void setExpansion(int[] expansion) { |
this.expansion = expansion; |
} |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/DCMMatrixRequestFrame.java |
---|
0,0 → 1,17 |
package dongfang.mkt.frames; |
import java.io.IOException; |
import dongfang.mkt.RequestFrameVisitor; |
public class DCMMatrixRequestFrame extends RequestFrame { |
public DCMMatrixRequestFrame() { |
super(FC_ADDRESS); |
} |
public void accept(RequestFrameVisitor o) throws IOException { |
o.visit(this); |
} |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/DCMMatrixResponseFrame.java |
---|
0,0 → 1,42 |
package dongfang.mkt.frames; |
import java.util.Formatter; |
import java.util.Locale; |
public class DCMMatrixResponseFrame extends ResponseFrame { |
private float[][] matrix; |
public DCMMatrixResponseFrame(int address) { |
super(address); |
} |
@Override |
public boolean isResponseTo(RequestFrame r) { |
return r instanceof DCMMatrixRequestFrame; |
} |
public float[][] getMatrix() { |
return matrix; |
} |
public void setMatrix(float[][] matrix) { |
this.matrix = matrix; |
} |
public String toString() { |
StringBuilder result = new StringBuilder(); |
Formatter fmt = new Formatter(result, Locale.US); |
fmt.format("%4.4f", matrix[0][0] + " "); |
fmt.format("%4.4f", matrix[0][1] + " "); |
fmt.format("%4.4f", matrix[0][2] + "\n"); |
fmt.format("%4.4f", matrix[1][0] + " "); |
fmt.format("%4.4f", matrix[1][1] + " "); |
fmt.format("%4.4f", matrix[1][2] + "\n"); |
fmt.format("%4.4f", matrix[2][0] + " "); |
fmt.format("%4.4f", matrix[2][1] + " "); |
fmt.format("%4.4f", matrix[2][2]); |
return result.toString(); |
} |
} |