public static NavigationData ToNavigationData(this NativeNavdata nativeNavdata)
{
var navigationData = new NavigationData();
def_ardrone_state_mask_t ardroneState = nativeNavdata.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
var ctrlState = (CTRL_STATES) (nativeNavdata.demo.ctrl_state >> 0x10);
UpdateStateUsing(ctrlState, ref navigationData.State);
navigationData.Yaw = nativeNavdata.demo.psi/1000.0f;
navigationData.Pitch = nativeNavdata.demo.theta/1000.0f;
navigationData.Roll = nativeNavdata.demo.phi/1000.0f;
navigationData.Altitude = nativeNavdata.demo.altitude/1000.0f;
navigationData.Time = nativeNavdata.time.time;
navigationData.Velocity.X = nativeNavdata.demo.vx/1000.0f;
navigationData.Velocity.Y = nativeNavdata.demo.vy/1000.0f;
navigationData.Velocity.Z = nativeNavdata.demo.vz/1000.0f;
navigationData.Battery.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
navigationData.Battery.Percentage = nativeNavdata.demo.vbat_flying_percentage;
navigationData.Battery.Voltage = nativeNavdata.raw_measures.vbat_raw/1000.0f;
navigationData.Wifi.LinkQuality = 1.0f - ToSingle(nativeNavdata.wifi.link_quality);
return navigationData;
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t) navdataBag.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
var ctrlState = (CTRL_STATES) (navdataBag.demo.ctrl_state >> 0x10);
UpdateStateUsing(ctrlState, ref navigationData.State);
navigationData.Yaw = DegreeToRadian*(navdataBag.demo.psi/1000.0f);
navigationData.Pitch = DegreeToRadian*(navdataBag.demo.theta/1000.0f);
navigationData.Roll = DegreeToRadian*(navdataBag.demo.phi/1000.0f);
navigationData.Altitude = navdataBag.demo.altitude/1000.0f;
navigationData.Time = navdataBag.time.time;
navigationData.Velocity.X = navdataBag.demo.vx/1000.0f;
navigationData.Velocity.Y = navdataBag.demo.vy/1000.0f;
navigationData.Velocity.Z = navdataBag.demo.vz/1000.0f;
navigationData.Battery.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
navigationData.Battery.Percentage = navdataBag.demo.vbat_flying_percentage;
navigationData.Battery.Voltage = navdataBag.raw_measures.vbat_raw/1000.0f;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
return navigationData;
}
public static bool TryParse(ref NavigationPacket packet, out NavigationData navigationData)
{
navigationData = new NavigationData();
NavdataBag navdataBag;
if (NavdataBagParser.TryParse(ref packet, out navdataBag))
{
navigationData = NavdataConverter.ToNavigationData(navdataBag);
return true;
}
return false;
}
public static bool TryParse(ref NavigationPacket packet, out NavigationData navigationData)
{
navigationData = new NavigationData();
NavdataBag navdataBag;
if (NavdataBagParser.TryParse(ref packet, out navdataBag))
{
navigationData = NavdataConverter.ToNavigationData(navdataBag);
return(true);
}
return(false);
}
private void UpdateNavigationData(NavigationPacket packet)
{
NavigationData navigationData;
if (NavigationPacketParser.TryParse(ref packet, out navigationData))
{
_navigationData = navigationData;
ProcessRequestedState();
if (NavigationDataUpdated != null)
NavigationDataUpdated(_navigationData);
}
}
private void ResetNavigationData()
{
_navigationData = new NavigationData();
}
private void OnNavigationDataDecoded(NavigationData navigationData)
{
_navigationData = navigationData;
ProcessRequest();
if (NavigationDataDecoded != null)
NavigationDataDecoded(navigationData);
}
private void RecreateNavigationData()
{
_navigationData = new NavigationData();
}
