protected void ResetVariables()
{
keepAliveStopwatch.Reset();
currentNavigationDataStruct = new NavigationDataStruct();
currentNavigationDataHeaderStruct = new NavigationDataHeaderStruct();
currentNavigationData = new DroneData();
currentSequenceNumber = initialSequenceNumber;
}
private void DetermineNavigationData(byte[] buffer, int position)
{
unsafe
{
fixed(byte *entry = &buffer[position])
{
currentNavigationDataStruct = *(NavigationDataStruct *)entry;
}
}
currentNavigationData = new DroneData(currentNavigationDataStruct);
}
public DroneData(NavigationDataStruct navigationDataStruct)
{
phi = navigationDataStruct.Phi / 1000.0;
psi = navigationDataStruct.Psi / 1000.0;
theta = navigationDataStruct.Theta / 1000.0;
vX = navigationDataStruct.VX;
vY = navigationDataStruct.VY;
vZ = navigationDataStruct.VZ;
altitude = navigationDataStruct.Altitude;
batteryLevel = (int)navigationDataStruct.BatteryLevel;
}
