public override void Update()
{
_twiBus.Read(_i2cConfiguration, _buffer, 100);
Throttle = _settings.ThrottleScale.Calculate(BitConverter.ToShort(_buffer, 0));
Axes.Pitch = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 2)) * _settings.RadioSensitivityFactor;
Axes.Roll = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 4)) * _settings.RadioSensitivityFactor;
Axes.Yaw = _settings.AxesScale.Calculate(BitConverter.ToShort(_buffer, 6)) * _settings.RadioSensitivityFactor;
Gear = BitConverter.ToShort(_buffer, 8) > 1500;
}
/// <summary>
/// Reads a 16-bit signed integer from the stream, using the bit converter
/// for this reader. 2 bytes are read.
/// </summary>
/// <returns>The 16-bit integer read</returns>
public short ReadShort()
{
ReadInternal(buffer, 2);
return(BitConverter.ToShort(buffer, 0));
}
