internal static DemoOption FromReader(ushort size, BinaryReader reader)
{
Validate(size);
var result = new DemoOption
{
State = (States)reader.ReadUInt32(),
BatteryPercentage = reader.ReadUInt32(),
Theta = reader.ReadSingle() / 1000f,
Phi = reader.ReadSingle() / 1000f,
Psi = reader.ReadSingle() / 1000f,
Altitude = reader.ReadInt32() / 1000,
Vx = reader.ReadSingle() / 1000f,
Vy = reader.ReadSingle() / 1000f,
Vz = reader.ReadSingle() / 1000f,
FrameNumber = reader.ReadUInt32(),
_detectionCameraRotation = Matrix33.FromReader(reader),
_detectionCameraTrans = Vector.FromReader(reader),
DetectionTagIndex = reader.ReadUInt32(),
DetectionCameraType = reader.ReadUInt32(),
_droneCameraRotation = Matrix33.FromReader(reader),
_droneCameraTrans = Vector.FromReader(reader)
};
return(result);
}
private void AddOption(NavDataTag optionId, ushort size, BinaryReader reader)
{
switch (optionId)
{
case NavDataTag.Demo:
Demo = DemoOption.FromReader(size, reader);
break;
case NavDataTag.Checksum:
CheckSum = ChecksumOption.FromBytes(size, reader);
break;
case NavDataTag.VisionDetect:
VisionDetect = VisionDetectOption.FromReader(size, reader);
break;
case NavDataTag.Wifi:
Wifi = WifiOption.FromReader(size, reader);
break;
case NavDataTag.HdVideoStream:
HdVideoStream = HdVideoStreamOption.FromReader(size, reader);
break;
default:
if (false && Debugger.IsAttached)
{
// An unhandled navdata option was detected; break into the debugger
Debugger.Break();
}
else
{
for (int i = 0; i < size - 4; i++)
{
reader.ReadByte();
}
}
break;
}
}
