public static int decodeYPRUpdate(byte[] buffer, int offset, int length, YPRUpdate u)
{
if (length < YPR_UPDATE_MESSAGE_LENGTH)
{
return(0);
}
if ((buffer[offset + 0] == '!') && (buffer[offset + 1] == 'y'))
{
if (!verifyChecksum(buffer, offset, YPR_UPDATE_CHECKSUM_INDEX))
{
return(0);
}
u.yaw = decodeProtocolFloat(buffer, offset + YPR_UPDATE_YAW_VALUE_INDEX);
u.pitch = decodeProtocolFloat(buffer, offset + YPR_UPDATE_PITCH_VALUE_INDEX);
u.roll = decodeProtocolFloat(buffer, offset + YPR_UPDATE_ROLL_VALUE_INDEX);
u.compass_heading = decodeProtocolFloat(buffer, offset + YPR_UPDATE_COMPASS_VALUE_INDEX);
return(YPR_UPDATE_MESSAGE_LENGTH);
}
return(0);
}
public static int decodeYPRUpdate(byte[] buffer, int offset, int length, YPRUpdate u)
{
if (length < YPR_UPDATE_MESSAGE_LENGTH)
{
return 0;
}
if ((buffer[offset + 0] == '!') && (buffer[offset + 1] == 'y'))
{
if (!verifyChecksum(buffer, offset, YPR_UPDATE_CHECKSUM_INDEX))
{
return 0;
}
u.yaw = decodeProtocolFloat(buffer, offset + YPR_UPDATE_YAW_VALUE_INDEX);
u.pitch = decodeProtocolFloat(buffer, offset + YPR_UPDATE_PITCH_VALUE_INDEX);
u.roll = decodeProtocolFloat(buffer, offset + YPR_UPDATE_ROLL_VALUE_INDEX);
u.compass_heading = decodeProtocolFloat(buffer, offset + YPR_UPDATE_COMPASS_VALUE_INDEX);
return YPR_UPDATE_MESSAGE_LENGTH;
}
return 0;
}
