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исправлен rtp.cs

20230823
Денис Кузнецов 3 years ago
parent
cfd0fd806d
commit
90c8f12c53
1 changed files with 22 additions and 10 deletions
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  1. 32
      rtp.cs

32
rtp.cs
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@ -9,6 +9,8 @@ namespace nRTP @@ -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 @@ -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 @@ -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 @@ -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()
{

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