public void ConvertFromMavlinkUnionToParamValue(float payloadParamValue, MavParamType payloadParamType, out float?floatVal,
out long?longVal)
{
switch (payloadParamType)
{
case MavParamType.MavParamTypeUint8:
case MavParamType.MavParamTypeInt8:
case MavParamType.MavParamTypeUint16:
case MavParamType.MavParamTypeInt16:
case MavParamType.MavParamTypeUint32:
case MavParamType.MavParamTypeInt32:
longVal = (long?)payloadParamValue;
floatVal = null;
break;
case MavParamType.MavParamTypeUint64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
case MavParamType.MavParamTypeInt64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
case MavParamType.MavParamTypeReal32:
floatVal = payloadParamValue;
longVal = null;
break;
case MavParamType.MavParamTypeReal64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
default:
throw new ArgumentOutOfRangeException(nameof(payloadParamType), payloadParamType, null);
}
}
public MavParam(ushort index, string name, MavParamType type, float?realValue, long?integerValue)
{
Index = index;
Name = name;
Type = type;
RealValue = realValue;
IntegerValue = integerValue;
}
public void ConvertFromMavlinkUnionToParamValue(float payloadParamValue, MavParamType payloadParamType, out float?floatVal, out long?longVal)
{
// MAVLink (v1.0, v2.0) supports these data types:
// uint32_t - 32bit unsigned integer(use the ENUM value MAV_PARAM_TYPE_UINT32)
// int32_t - 32bit signed integer(use the ENUM value MAV_PARAM_TYPE_INT32)
// float - IEEE754 single precision floating point number(use the ENUM value MAV_PARAM_TYPE_FLOAT)
// All parameters are send as the float value of mavlink_param_union_t, which means that a parameter
// should be byte-wise converted with this union to a byte-wise float (no type conversion).
// This is necessary in order to not limit the maximum precision for scaled integer params.
// E.g. GPS coordinates can only be expressed with single float precision up to a few meters, while GPS coordinates in 1E7 scaled integers
// provide very high accuracy.
switch (payloadParamType)
{
case MavParamType.MavParamTypeUint8:
longVal = BitConverter.GetBytes(payloadParamValue)[0];
floatVal = null;
break;
case MavParamType.MavParamTypeInt8:
longVal = (sbyte)BitConverter.GetBytes(payloadParamValue)[0];
floatVal = null;
break;
case MavParamType.MavParamTypeUint16:
longVal = BitConverter.ToUInt16(BitConverter.GetBytes(payloadParamValue), 0);
floatVal = null;
break;
case MavParamType.MavParamTypeInt16:
longVal = BitConverter.ToInt16(BitConverter.GetBytes(payloadParamValue), 0);
floatVal = null;
break;
case MavParamType.MavParamTypeUint32:
longVal = BitConverter.ToUInt32(BitConverter.GetBytes(payloadParamValue), 0);
floatVal = null;
break;
case MavParamType.MavParamTypeInt32:
longVal = BitConverter.ToInt32(BitConverter.GetBytes(payloadParamValue), 0);
floatVal = null;
break;
case MavParamType.MavParamTypeUint64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
case MavParamType.MavParamTypeInt64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
case MavParamType.MavParamTypeReal32:
floatVal = payloadParamValue;
longVal = null;
break;
case MavParamType.MavParamTypeReal64:
throw new MavlinkException(RS.Vehicle_ConvertToMavlinkUnionToParamValue_NeedMoreByte);
default:
_logger.Warn($"Unknown param type {payloadParamType} with value {payloadParamValue}");
floatVal = null;
longVal = null;
return;
}
}
