private static void MapRawMeasures(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.raw_measures.tag = reader.ReadUInt16();
navigationData.raw_measures.size = reader.ReadUInt16();
navigationData.raw_measures.raw_accs_1 = reader.ReadUInt16();
navigationData.raw_measures.raw_accs_2 = reader.ReadUInt16();
navigationData.raw_measures.raw_accs_3 = reader.ReadUInt16();
navigationData.raw_measures.raw_gyros_1 = reader.ReadUInt16();
navigationData.raw_measures.raw_gyros_2 = reader.ReadUInt16();
navigationData.raw_measures.raw_gyros_3 = reader.ReadUInt16();
navigationData.raw_measures.raw_gyros_110_1 = reader.ReadUInt16();
navigationData.raw_measures.raw_gyros_110_2 = reader.ReadUInt16();
navigationData.raw_measures.vbat_raw = reader.ReadUInt32();
navigationData.raw_measures.us_debut_echo = reader.ReadUInt16();
navigationData.raw_measures.us_fin_echo = reader.ReadUInt16();
navigationData.raw_measures.us_association_echo = reader.ReadUInt16();
navigationData.raw_measures.us_distance_echo = reader.ReadUInt16();
navigationData.raw_measures.us_courbe_temps = reader.ReadUInt16();
navigationData.raw_measures.us_courbe_valeur = reader.ReadUInt16();
navigationData.raw_measures.us_courbe_ref = reader.ReadUInt16();
navigationData.raw_measures.flag_echo_ini = reader.ReadUInt16();
navigationData.raw_measures.nb_echo = reader.ReadUInt16();
navigationData.raw_measures.sum_echo = reader.ReadUInt32();
navigationData.raw_measures.alt_temp_raw = reader.ReadUInt32();
navigationData.raw_measures.gradient = reader.ReadUInt16();
}
}
/// <summary>
/// Populates the navigation data structure.
/// </summary>
/// <param name="position">The current position in the byte sequence.</param>
private static void MapNavigationData(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.demo.tag = reader.ReadUInt16();
navigationData.demo.size = reader.ReadUInt16();
navigationData.demo.ctrl_state = reader.ReadUInt32();
navigationData.demo.vbat_flying_percentage = reader.ReadUInt32();
navigationData.demo.theta = reader.ReadSingle();
navigationData.demo.phi = reader.ReadSingle();
navigationData.demo.psi = reader.ReadSingle();
navigationData.demo.altitude = reader.ReadInt32();
navigationData.demo.vx = reader.ReadSingle();
navigationData.demo.vy = reader.ReadSingle();
navigationData.demo.vz = reader.ReadSingle();
navigationData.demo.num_frames = reader.ReadUInt32();
navigationData.demo.detection_camera_rot.m11 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m12 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m13 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m21 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m22 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m23 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m31 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m32 = reader.ReadSingle();
navigationData.demo.detection_camera_rot.m33 = reader.ReadSingle();
navigationData.demo.detection_camera_trans.x = reader.ReadSingle();
navigationData.demo.detection_camera_trans.y = reader.ReadSingle();
navigationData.demo.detection_camera_trans.z = reader.ReadSingle();
navigationData.demo.detection_tag_index = reader.ReadUInt32();
navigationData.demo.detection_camera_type = reader.ReadUInt32();
navigationData.demo.drone_camera_rot.m11 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m12 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m13 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m21 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m22 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m23 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m31 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m32 = reader.ReadSingle();
navigationData.demo.drone_camera_rot.m33 = reader.ReadSingle();
navigationData.demo.drone_camera_trans.x = reader.ReadSingle();
navigationData.demo.drone_camera_trans.y = reader.ReadSingle();
navigationData.demo.drone_camera_trans.z = reader.ReadSingle();
}
}
private static void MapGyrosOffsets(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.gyros_offsets.tag = reader.ReadUInt16();
navigationData.gyros_offsets.size = reader.ReadUInt16();
navigationData.gyros_offsets.offset_g1 = reader.ReadSingle();
navigationData.gyros_offsets.offset_g2 = reader.ReadSingle();
navigationData.gyros_offsets.offset_g3 = reader.ReadSingle();
}
}
private static void MapAdcDataFrame(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.adc_data_frame.tag = reader.ReadUInt16();
navigationData.adc_data_frame.size = reader.ReadUInt16();
navigationData.adc_data_frame.version = reader.ReadUInt32();
navigationData.adc_data_frame.data_frame1 = reader.ReadByte();
navigationData.adc_data_frame.data_frame2 = reader.ReadByte();
navigationData.adc_data_frame.data_frame3 = reader.ReadByte();
navigationData.adc_data_frame.data_frame4 = reader.ReadByte();
navigationData.adc_data_frame.data_frame5 = reader.ReadByte();
navigationData.adc_data_frame.data_frame6 = reader.ReadByte();
navigationData.adc_data_frame.data_frame7 = reader.ReadByte();
navigationData.adc_data_frame.data_frame8 = reader.ReadByte();
navigationData.adc_data_frame.data_frame9 = reader.ReadByte();
navigationData.adc_data_frame.data_frame10 = reader.ReadByte();
navigationData.adc_data_frame.data_frame11 = reader.ReadByte();
navigationData.adc_data_frame.data_frame12 = reader.ReadByte();
navigationData.adc_data_frame.data_frame13 = reader.ReadByte();
navigationData.adc_data_frame.data_frame14 = reader.ReadByte();
navigationData.adc_data_frame.data_frame15 = reader.ReadByte();
navigationData.adc_data_frame.data_frame16 = reader.ReadByte();
navigationData.adc_data_frame.data_frame17 = reader.ReadByte();
navigationData.adc_data_frame.data_frame18 = reader.ReadByte();
navigationData.adc_data_frame.data_frame19 = reader.ReadByte();
navigationData.adc_data_frame.data_frame20 = reader.ReadByte();
navigationData.adc_data_frame.data_frame21 = reader.ReadByte();
navigationData.adc_data_frame.data_frame22 = reader.ReadByte();
navigationData.adc_data_frame.data_frame23 = reader.ReadByte();
navigationData.adc_data_frame.data_frame24 = reader.ReadByte();
navigationData.adc_data_frame.data_frame25 = reader.ReadByte();
navigationData.adc_data_frame.data_frame26 = reader.ReadByte();
navigationData.adc_data_frame.data_frame27 = reader.ReadByte();
navigationData.adc_data_frame.data_frame28 = reader.ReadByte();
navigationData.adc_data_frame.data_frame29 = reader.ReadByte();
navigationData.adc_data_frame.data_frame30 = reader.ReadByte();
navigationData.adc_data_frame.data_frame31 = reader.ReadByte();
navigationData.adc_data_frame.data_frame32 = reader.ReadByte();
}
}
/// <summary>
/// Populates the vision detect data structure.
/// </summary>
/// <param name="data">The byte sequence.</param>
/// <param name="position">The current position in the byte sequence.</param>
/// <param name="navigationData">The navigation data bag.</param>
private static void MapVisionDetect(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.vision_detect.Tag = reader.ReadUInt16();
navigationData.vision_detect.Size = reader.ReadUInt16();
navigationData.vision_detect.NbDetected = reader.ReadUInt32();
navigationData.vision_detect.Tag1Type = reader.ReadUInt32();
navigationData.vision_detect.Tag2Type = reader.ReadUInt32();
navigationData.vision_detect.Tag3Type = reader.ReadUInt32();
navigationData.vision_detect.Tag4Type = reader.ReadUInt32();
navigationData.vision_detect.Tag1X = reader.ReadUInt32();
navigationData.vision_detect.Tag2X = reader.ReadUInt32();
navigationData.vision_detect.Tag3X = reader.ReadUInt32();
navigationData.vision_detect.Tag4X = reader.ReadUInt32();
navigationData.vision_detect.Tag1Y = reader.ReadUInt32();
navigationData.vision_detect.Tag2Y = reader.ReadUInt32();
navigationData.vision_detect.Tag3Y = reader.ReadUInt32();
navigationData.vision_detect.Tag4Y = reader.ReadUInt32();
navigationData.vision_detect.Tag1BoxWidth = reader.ReadUInt32();
navigationData.vision_detect.Tag2BoxWidth = reader.ReadUInt32();
navigationData.vision_detect.Tag3BoxWidth = reader.ReadUInt32();
navigationData.vision_detect.Tag4BoxWidth = reader.ReadUInt32();
navigationData.vision_detect.Tag1BoxHeight = reader.ReadUInt32();
navigationData.vision_detect.Tag2BoxHeight = reader.ReadUInt32();
navigationData.vision_detect.Tag3BoxHeight = reader.ReadUInt32();
navigationData.vision_detect.Tag4BoxHeight = reader.ReadUInt32();
navigationData.vision_detect.Tag1Distance = reader.ReadUInt32();
navigationData.vision_detect.Tag2Distance = reader.ReadUInt32();
navigationData.vision_detect.Tag3Distance = reader.ReadUInt32();
navigationData.vision_detect.Tag4Distance = reader.ReadUInt32();
}
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t)navdataBag.navigationDataHeader.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
navigationData.Masks = ardroneState;
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;
DateTime date = new DateTime(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;
Battery bat = new Battery();
bat.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
bat.Percentage = navdataBag.demo.vbat_flying_percentage;
bat.Voltage = navdataBag.raw_measures.vbat_raw / 1000.0f;
navigationData.Battery = bat;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
return(navigationData);
}
private static void MapVisionOfTag(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.vision_of_tag.tag = reader.ReadUInt16();
navigationData.vision_of_tag.size = reader.ReadUInt16();
navigationData.vision_of_tag.tag1_dx = reader.ReadSingle();
navigationData.vision_of_tag.tag2_dx = reader.ReadSingle();
navigationData.vision_of_tag.tag3_dx = reader.ReadSingle();
navigationData.vision_of_tag.tag4_dx = reader.ReadSingle();
navigationData.vision_of_tag.tag5_dx = reader.ReadSingle();
navigationData.vision_of_tag.tag1_dy = reader.ReadSingle();
navigationData.vision_of_tag.tag2_dy = reader.ReadSingle();
navigationData.vision_of_tag.tag3_dy = reader.ReadSingle();
navigationData.vision_of_tag.tag4_dy = reader.ReadSingle();
navigationData.vision_of_tag.tag5_dy = reader.ReadSingle();
}
}
/// <summary>
/// Populates data elated to the Magneto
/// </summary>
/// <param name="data">The byte sequence.</param>
/// <param name="position">The current position in the byte sequence.</param>
/// <param name="navigationData">The navigation data bag.</param>
private static void MapMagneto(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.magneto.tag = reader.ReadUInt16();
navigationData.magneto.size = reader.ReadUInt16();
navigationData.magneto.mx = reader.ReadUInt16();
navigationData.magneto.my = reader.ReadUInt16();
navigationData.magneto.mz = reader.ReadUInt16();
navigationData.magneto.magneto_raw.x = reader.ReadSingle();
navigationData.magneto.magneto_raw.y = reader.ReadSingle();
navigationData.magneto.magneto_raw.z = reader.ReadSingle();
navigationData.magneto.magneto_rectified.x = reader.ReadSingle();
navigationData.magneto.magneto_rectified.y = reader.ReadSingle();
navigationData.magneto.magneto_rectified.z = reader.ReadSingle();
navigationData.magneto.magneto_offset.x = reader.ReadSingle();
navigationData.magneto.magneto_offset.y = reader.ReadSingle();
navigationData.magneto.magneto_offset.z = reader.ReadSingle();
navigationData.magneto.heading_unwrapped = reader.ReadSingle();
navigationData.magneto.heading_gyro_unwrapped = reader.ReadSingle();
navigationData.magneto.heading_fusion_unwrapped = reader.ReadSingle();
navigationData.magneto.magneto_calibration_ok = reader.ReadByte();
navigationData.magneto.magneto_state = reader.ReadUInt32();
navigationData.magneto.magneto_radius = reader.ReadSingle();
navigationData.magneto.error_mean = reader.ReadSingle();
navigationData.magneto.error_var = reader.ReadSingle();
}
}
private static void MapPhysMeasures(byte[] data, int position, ref NavdataBag navigationData)
{
using (MemoryStream memoryStream = new MemoryStream(data))
{
BinaryReader reader = new BinaryReader(memoryStream);
reader.BaseStream.Seek(position, SeekOrigin.Begin);
navigationData.phys_measures.tag = reader.ReadUInt16();
navigationData.phys_measures.size = reader.ReadUInt16();
navigationData.phys_measures.accs_temp = reader.ReadSingle();
navigationData.phys_measures.gyro_temp = reader.ReadUInt16();
navigationData.phys_measures.phys_accs1 = reader.ReadSingle();
navigationData.phys_measures.phys_accs2 = reader.ReadSingle();
navigationData.phys_measures.phys_accs3 = reader.ReadSingle();
navigationData.phys_measures.phys_gyros1 = reader.ReadSingle();
navigationData.phys_measures.phys_gyros2 = reader.ReadSingle();
navigationData.phys_measures.phys_gyros3 = reader.ReadSingle();
navigationData.phys_measures.alim3V3 = reader.ReadUInt32();
navigationData.phys_measures.vrefEpson = reader.ReadUInt32();
navigationData.phys_measures.vrefIDG = reader.ReadUInt32();
}
}
public static NavigationData ToNavigationData(NavdataBag navdataBag)
{
var navigationData = new NavigationData();
var ardroneState = (def_ardrone_state_mask_t)navdataBag.navigationDataHeader.ardrone_state;
UpdateStateUsing(ardroneState, ref navigationData.State);
navigationData.Masks = ardroneState;
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;
DateTime date = new DateTime(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;
Battery bat = new Battery();
bat.Low = ardroneState.HasFlag(def_ardrone_state_mask_t.ARDRONE_VBAT_LOW);
bat.Percentage = navdataBag.demo.vbat_flying_percentage;
bat.Voltage = navdataBag.raw_measures.vbat_raw / 1000.0f;
navigationData.Battery = bat;
navigationData.Wifi.LinkQuality = 1.0f - ConversionHelper.ToSingle(navdataBag.wifi.link_quality);
navigationData.Video.FrameNumber = navdataBag.video_stream.frame_number;
return navigationData;
}
//private UInt32 navigationDataCheckSum;
public static bool TryParse(ref NavigationPacket packet, out NavdataBag navigationData)
{
navigationData = new NavdataBag();
navdata_tag_t navigationDataTag = 0;
UInt16 size = 0;
using (MemoryStream memoryStream = new MemoryStream(packet.Data))
{
BinaryReader binaryReader = new BinaryReader(memoryStream);
navigationData.navigationDataHeader.header = binaryReader.ReadUInt32();
navigationData.navigationDataHeader.ardrone_state = binaryReader.ReadUInt32();
navigationData.navigationDataHeader.sequence = binaryReader.ReadUInt32();
navigationData.navigationDataHeader.vision_defined = binaryReader.ReadUInt32();
memoryStream.Position = navigationDataHeaderSize;
if (navigationData.navigationDataHeader.header == NavdataHeader)
{
while (memoryStream.Position < memoryStream.Length)
{
navigationDataTag = (navdata_tag_t)binaryReader.ReadUInt16();
size = binaryReader.ReadUInt16();
switch (navigationDataTag)
{
case navdata_tag_t.NAVDATA_DEMO:
MapNavigationData(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
memoryStream.Position += size - 4;
break;
case navdata_tag_t.NAVDATA_CKS:
navigationData.cks.cks = binaryReader.ReadUInt32();
break;
case navdata_tag_t.NAVDATA_VISION_DETECT:
MapVisionDetect(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
memoryStream.Position += size - 4;
break;
case navdata_tag_t.NAVDATA_MAGNETO:
MapMagneto(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
memoryStream.Position += size - 4;
break;
case navdata_tag_t.NAVDATA_TIME:
navigationData.time.time = binaryReader.ReadUInt32();
break;
case navdata_tag_t.NAVDATA_RAW_MEASURES:
MapRawMeasures(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
break;
case navdata_tag_t.NAVDATA_ADC_DATA_FRAME:
MapAdcDataFrame(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
break;
case navdata_tag_t.NAVDATA_GYROS_OFFSETS:
MapGyrosOffsets(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
break;
case navdata_tag_t.NAVDATA_PHYS_MEASURES:
MapPhysMeasures(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
break;
case navdata_tag_t.NAVDATA_VISION_OF:
MapVisionOfTag(packet.Data, (int)(memoryStream.Position - 4), ref navigationData);
break;
default:
//Currently not used
memoryStream.Position += size - 4; // substract 4 bytes for Tag and Size field
break;
}
}
}
uint dataCheckSum = CalculateChecksum(packet.Data);
if (navigationData.cks.cks == dataCheckSum)
{
return(true);
}
}
return(false);
}
private static void ProcessOption(navdata_tag_t navigationDataTag, byte[] data, int position, ref NavdataBag navigationData)
{
//switch (navigationDataTag)
//{
// #region DONE
// //case NavigationDataTag.NAVDATA_DEMO:
// // MapNavigationData(data, position, ref navigationData);
// // break;
// //case NavigationDataTag.NAVDATA_VISION_DETECT:
// // MapVisionDetect(data, position, ref navigationData);
// // break;
// //case NavigationDataTag.NAVDATA_MAGNETO:
// // MapMagneto(data, position, ref navigationData);
// // break;
// //case NavigationDataTag.NAVDATA_CKS:
// // navigationData.cks.cks = binaryReader.ReadUInt32();
// // break;
// //case NavigationDataTag.NAVDATA_TIME:
// // navigationData.time = *(navdata_time_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_RAW_MEASURES:
// // navigationData.raw_measures = *(navdata_raw_measures_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_ADC_DATA_FRAME:
// // navigationData.adc_data_frame = *(navdata_adc_data_frame_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_GYROS_OFFSETS:
// // navigationData.gyros_offsets = *(navdata_gyros_offsets_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_PHYS_MEASURES:
// // navigationData.phys_measures = *(navdata_phys_measures_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_VISION_OF:
// // navigationData.vision_of_tag = *(navdata_vision_of_t*) option;
// // break;
// #endregion
// #region NOT DONE
// //case NavigationDataTag.NAVDATA_EULER_ANGLES:
// // navigationData.euler_angles = *(navdata_euler_angles_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_REFERENCES:
// // navigationData.references = *(navdata_references_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_TRIMS:
// // navigationData.trims = *(navdata_trims_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_RC_REFERENCES:
// // navigationData.rc_references = *(navdata_rc_references_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_PWM:
// // navigationData.pwm = *(navdata_pwm_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_ALTITUDE:
// // navigationData.altitude = *(navdata_altitude_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_VISION_RAW:
// // navigationData.vision_raw = *(navdata_vision_raw_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_VISION:
// // navigationData.vision = *(navdata_vision_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_VISION_PERF:
// // navigationData.vision_perf = *(navdata_vision_perf_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_TRACKERS_SEND:
// // navigationData.trackers_send = *(navdata_trackers_send_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_WATCHDOG:
// // navigationData.watchdog = *(navdata_watchdog_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_VIDEO_STREAM:
// // navigationData.video_stream = *(navdata_video_stream_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_GAMES:
// // navigationData.games = *(navdata_games_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_PRESSURE_RAW:
// // navigationData.pressure_raw = *(navdata_pressure_raw_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_WIND:
// // navigationData.wind_speed = *(navdata_wind_speed_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_KALMAN_PRESSURE:
// // navigationData.kalman_pressure = *(navdata_kalman_pressure_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_HDVIDEO_STREAM:
// // navigationData.hdvideo_stream = *(navdata_hdvideo_stream_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_WIFI:
// // navigationData.wifi = *(navdata_wifi_t*) option;
// // break;
// //case NavigationDataTag.NAVDATA_ZIMMU_3000:
// // // do nothing
// // break;
// //case NavigationDataTag.NAVDATA_NUMS:
// // // do nothing
// // break;
// //default:
// // throw new ArgumentOutOfRangeException();
// #endregion
//}
}