From 90c8f12c53428b1b334ac0f4c14f761506788614 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B5=D0=BD=D0=B8=D1=81=20=D0=9A=D1=83=D0=B7=D0=BD?=
 =?UTF-8?q?=D0=B5=D1=86=D0=BE=D0=B2?= <d.kuznetsov@gitlab.local>
Date: Thu, 24 Aug 2023 16:55:09 +0300
Subject: [PATCH] =?UTF-8?q?=D0=B8=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB?=
 =?UTF-8?q?=D0=B5=D0=BD=20rtp.cs?=
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---
 rtp.cs | 32 ++++++++++++++++++++++----------
 1 file changed, 22 insertions(+), 10 deletions(-)

diff --git a/rtp.cs b/rtp.cs
index df8e970..053bf82 100644
--- a/rtp.cs
+++ b/rtp.cs
@@ -9,6 +9,8 @@ namespace nRTP
     public static class RTP
     {
         //RTPMsgHeader
+        private const UInt32 _len_pack = 50;
+
         private static Byte _VerPXCC = 2;
         private static Byte _Ver = 2;           // версия протокола (текущая версия 2)
         private static Byte _P = 0;             // = 0 (не используется заполнение в конце пакета)
@@ -88,6 +90,11 @@ namespace nRTP
         public static UInt16 SD_Height;         // Высота (пиксели)
         public static float SD_AzUpr;           // (град)
         public static float SD_ElUpr;           // (град)
+
+        public static Int32 SD_Shirota;          // Широта БЛА (1е-7 град)
+        public static Int32 SD_Dolgota;          // Долгота БЛА (1е-7 град)
+        public static Int32 SD_Vysota;          // Высота БЛА (0,01 м)
+
         public static Int16 SD_Course;          // Курс БЛА (0,01 град)
         public static Int16 SD_Roll;            // Крен БЛА (0,01 град)
         public static Int16 SD_Pitch;           // Тангаж БЛА (0,01 град)
@@ -112,7 +119,7 @@ namespace nRTP
             }
         }
 
-        public static Byte[] DataH0 = new Byte[56];
+        public static Byte[] DataH0 = new Byte[68];
         public static Byte[] DataH1 = new Byte[20];
 
         public static void MakeDataH0()
@@ -131,15 +138,20 @@ namespace nRTP
             Array.Copy(BitConverter.GetBytes(RTP.SD_Height), 0, DataH0, 22, 2);
             Array.Copy(BitConverter.GetBytes(RTP.SD_AzUpr), 0, DataH0, 24, 4);
             Array.Copy(BitConverter.GetBytes(RTP.SD_ElUpr), 0, DataH0, 28, 4);
-            Array.Copy(BitConverter.GetBytes(RTP.SD_Course), 0, DataH0, 32, 2);
-            Array.Copy(BitConverter.GetBytes(RTP.SD_Roll), 0, DataH0, 34, 2);
-            Array.Copy(BitConverter.GetBytes(RTP.SD_Pitch), 0, DataH0, 36, 2);
-            Array.Copy(BitConverter.GetBytes(RTP.SD_FrameId), 0, DataH0, 38, 2);
-
-            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_X), 0, DataH0, 40, 4);
-            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_Y), 0, DataH0, 44, 4);
-            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dX), 0, DataH0, 48, 4);
-            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dY), 0, DataH0, 52, 4);
+
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Shirota), 0, DataH0, 32, 4);
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Dolgota), 0, DataH0, 36, 4);
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Vysota), 0, DataH0, 40, 4);
+
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Course), 0, DataH0, 44, 2);
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Roll), 0, DataH0, 46, 2);
+            Array.Copy(BitConverter.GetBytes(RTP.SD_Pitch), 0, DataH0, 48, 2);
+            
+            Array.Copy(BitConverter.GetBytes(RTP.SD_FrameId), 0, DataH0, 50, 2);
+            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_X), 0, DataH0, 52, 4);
+            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_Y), 0, DataH0, 56, 4);
+            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dX), 0, DataH0, 60, 4);
+            Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dY), 0, DataH0, 64, 4);
         }
         public static void MakeDataH1()
         {