public static UInt16 GetPacketCrc(MavLinkPacket p)
{
UInt16 crc = X25CrcSeed;
crc = X25CrcAccumulate(p.PayLoadLength, crc);
crc = X25CrcAccumulate(p.InCompatFlags, crc);
crc = X25CrcAccumulate(p.CompatFlats, crc);
crc = X25CrcAccumulate(p.PacketSequenceNumber, crc);
crc = X25CrcAccumulate(p.SystemId, crc);
crc = X25CrcAccumulate(p.ComponentId, crc);
uint id = p.MessageId;
crc = X25CrcAccumulate((byte)(id & 0xFF), crc);
crc = X25CrcAccumulate((byte)(id >> 8 & 0xFF), crc);
crc = X25CrcAccumulate((byte)(id >> 16 & 0xFF), crc);
//crc = X25CrcAccumulate((byte)(id >> 24 & 0xFF), crc);
for (int i = 0; i < p.Payload.Length; ++i)
{
crc = X25CrcAccumulate(p.Payload[i], crc);
}
crc = X25CrcAccumulate(UasSummary.GetCrcExtraForId(p.MessageId), crc);
return(crc);
}
private void DeserializeMessage()
{
UasMessage result = UasSummary.CreateFromId(MessageId);
if (result == null)
{
return; // Unknown type
}
using (MemoryStream ms = new MemoryStream(Payload))
{
using (BinaryReader br = GetBinaryReader(ms))
{
result.DeserializeBody(br);
}
}
Message = result;
IsValid = true;
}
public static UInt16 GetPacketCrc(MavLinkPacket p)
{
UInt16 crc = X25CrcSeed;
crc = X25CrcAccumulate(p.PayLoadLength, crc);
crc = X25CrcAccumulate(p.PacketSequenceNumber, crc);
crc = X25CrcAccumulate(p.SystemId, crc);
crc = X25CrcAccumulate(p.ComponentId, crc);
crc = X25CrcAccumulate(p.MessageId, crc);
for (int i = 0; i < p.Payload.Length; ++i)
{
crc = X25CrcAccumulate(p.Payload[i], crc);
}
crc = X25CrcAccumulate(UasSummary.GetCrcExtraForId(p.MessageId), crc);
return(crc);
}
private static string GetCommandParamDescription(int command, string paramIndexString)
{
int paramIndex;
if (!Int32.TryParse(paramIndexString, out paramIndex))
{
return("");
}
foreach (UasEnumEntryMetadata entry in UasSummary.GetEnumMetadata("MavCmd").Entries)
{
if (command != entry.Value)
{
continue;
}
return(entry.Params[paramIndex - 1]);
}
return("");
}
private void DeserializeMessage()
{
UasMessage result = UasSummary.CreateFromId(MessageId);
if (result == null)
{
return; // Unknown type
}
using (MemoryStream ms = new MemoryStream(Payload)) //在组装包的时候进行解密(未完成)
{
using (BinaryReader br = GetBinaryReader(ms))
{
try
{
result.DeserializeBody(br);
}
catch { }//mavlinkv2会精简为0的包PayLoad从零开始就不发了
}
}
Message = result;
IsValid = true;
}
