Diff: GET_ANGLE_FUNC/GET_ANGLE_FUNC.cpp

Revision:

1:dd6e70abeb8e

Parent:

0:f0b20f502059

diff -r f0b20f502059 -r dd6e70abeb8e GET_ANGLE_FUNC/GET_ANGLE_FUNC.cpp
--- a/GET_ANGLE_FUNC/GET_ANGLE_FUNC.cpp	Thu May 24 10:19:44 2018 +0000
+++ b/GET_ANGLE_FUNC/GET_ANGLE_FUNC.cpp	Fri May 25 08:09:17 2018 +0000
@@ -6,14 +6,6 @@
 
 void CMD_GET_ANGLE(void)
 {
-    /*
-    Gimbal.putc(0x3e); //3e 49 01 4a 00 00
-    Gimbal.putc(0x49);
-    Gimbal.putc(0x01);
-    Gimbal.putc(0x4a);
-    Gimbal.putc(0x00);
-    Gimbal.putc(0x00);
-    */
     Gimbal.putc(0x3e); //3e 3d 01 3e 00 00
     Gimbal.putc(0x3d);
     Gimbal.putc(0x01);
@@ -26,44 +18,7 @@
 {
     buf=Gimbal.getc();
     //pc.putc(buf);
-    /*
-    if(buf==0x3e&&GimbalCnt==1){GimbalCnt++; GimbalBuf[GimbalCnt]=buf;} //3e 49 01 4a 00 00
-    else if(buf==0x49&&GimbalCnt==2){GimbalCnt++; GimbalBuf[GimbalCnt]=buf;}
-    else if(GimbalCnt>=2&&GimbalCnt<=23)
-    {
-        GimbalCnt++; 
-        GimbalBuf[GimbalCnt]=buf;
-        if(GimbalCnt==24)
-        {
-            BodyChks=0;
-            for(char i=5;i>22;i++) BodyChks+=GimbalBuf[i];
-        }
-        GimbalCnt++;
-    }
-    else if(GimbalCnt==25&&BodyChks==GimbalBuf[23])
-    {
-        //pc.putc(GimbalCnt);
-        
-        RollIMU         =(GimbalBuf[5]<<8)|GimbalBuf[6];
-        RollTarIMU      =(GimbalBuf[7]<<8)|GimbalBuf[8];
-        PitchIMU        =(GimbalBuf[11]<<8)|GimbalBuf[12];  
-        PitchTarIMU     =(GimbalBuf[13]<<8)|GimbalBuf[14];
-        YawIMU          =(GimbalBuf[17]<<8)|GimbalBuf[18];
-        YawTarIMU       =(GimbalBuf[19]<<8)|GimbalBuf[20];
     
-        RollDeg         =((double)RollIMU)*ANGLE_UNIT;
-        PitchDeg        =((double)PitchIMU)*ANGLE_UNIT;
-        YawDeg          =((double)YawIMU)*ANGLE_UNIT;
-        RollTar         =((double)RollTarIMU)*ANGLE_UNIT;
-        PitchTar        =((double)PitchTarIMU)*ANGLE_UNIT;
-        YawTar          =((double)YawTarIMU)*ANGLE_UNIT;
-        
-        GimbalCnt=1;
-        
-        //pc.printf("a\n");
-    }    
-    else{GimbalCnt=1;}
-    */
     if(buf==0x3e&&GimbalCnt==1){GimbalBuf[GimbalCnt]=buf;GimbalCnt++;} //3e 3d 01 3e 00 00
     else if(buf==0x3d&&GimbalCnt==2){GimbalBuf[GimbalCnt]=buf;GimbalCnt++;}
     else if(GimbalCnt>=3&&GimbalCnt<=59)
@@ -81,37 +36,35 @@
                 BodyChks+=GimbalBuf[i];
                 //pc.putc(BodyChks);
             }
-            
-            //pc.putc(BodyChks);
-            //pc.putc(GimbalBuf[59]);
+            if(BodyChks==GimbalBuf[59]) 
+            {
+
+                RollIMU         =(GimbalBuf[6]<<8)|GimbalBuf[5];
+                RollTarIMU      =(GimbalBuf[8]<<8)|GimbalBuf[7];
+                RollIMU2        =(GimbalBuf[12]<<24)|(GimbalBuf[11]<<16)|(GimbalBuf[10]<<8)|GimbalBuf[9];
+                PitchIMU        =(GimbalBuf[24]<<8)|GimbalBuf[23];
+                PitchTarIMU     =(GimbalBuf[26]<<8)|GimbalBuf[25];
+                PitchIMU2       =(GimbalBuf[30]<<24)|(GimbalBuf[29]<<16)|(GimbalBuf[28]<<8)|GimbalBuf[27];
+                YawIMU          =(GimbalBuf[42]<<8)|GimbalBuf[41];
+                YawTarIMU       =(GimbalBuf[44]<<8)|GimbalBuf[43];
+                YawIMU2         =(GimbalBuf[48]<<24)|(GimbalBuf[47]<<16)|(GimbalBuf[46]<<8)|GimbalBuf[45];
+
+
+                RollDeg         =((double)RollIMU)*ANGLE_UNIT;
+                PitchDeg        =((double)PitchIMU)*ANGLE_UNIT;
+                YawDeg          =((double)YawIMU)*ANGLE_UNIT;
+                RollTar         =((double)RollTarIMU)*ANGLE_UNIT;
+                PitchTar        =((double)PitchTarIMU)*ANGLE_UNIT;
+                YawTar          =((double)YawTarIMU)*ANGLE_UNIT;
+                RollRel         =((double)RollIMU2)*ANGLE_UNIT;
+                PitchRel        =((double)PitchIMU2)*ANGLE_UNIT;//+180.0f;
+                YawRel          =((double)YawIMU2)*ANGLE_UNIT;
+
+                GimbalCnt=1;
+            }
+            else GimbalCnt=1;
         }
-        GimbalCnt++;
+        else GimbalCnt++;
     }
-    else if(GimbalCnt==60&&BodyChks==GimbalBuf[59])
-    {      
-        
-        RollIMU         =(GimbalBuf[6]<<8)|GimbalBuf[5];
-        RollTarIMU      =(GimbalBuf[8]<<8)|GimbalBuf[7];
-        RollIMU2        =(GimbalBuf[12]<<24)|(GimbalBuf[11]<<16)|(GimbalBuf[10]<<8)|GimbalBuf[9];
-        PitchIMU        =(GimbalBuf[24]<<8)|GimbalBuf[23];  
-        PitchTarIMU     =(GimbalBuf[26]<<8)|GimbalBuf[25];
-        PitchIMU2       =(GimbalBuf[30]<<24)|(GimbalBuf[29]<<16)|(GimbalBuf[28]<<8)|GimbalBuf[27];
-        YawIMU          =(GimbalBuf[42]<<8)|GimbalBuf[41];
-        YawTarIMU       =(GimbalBuf[44]<<8)|GimbalBuf[43];
-        YawIMU2         =(GimbalBuf[48]<<24)|(GimbalBuf[47]<<16)|(GimbalBuf[46]<<8)|GimbalBuf[45];
-        
-        
-        RollDeg         =((double)RollIMU)*ANGLE_UNIT;
-        PitchDeg        =((double)PitchIMU)*ANGLE_UNIT;
-        YawDeg          =((double)YawIMU)*ANGLE_UNIT;
-        RollTar         =((double)RollTarIMU)*ANGLE_UNIT;
-        PitchTar        =((double)PitchTarIMU)*ANGLE_UNIT;
-        YawTar          =((double)YawTarIMU)*ANGLE_UNIT;
-        RollRel         =((double)RollIMU2)*ANGLE_UNIT;
-        PitchRel        =((double)PitchIMU2)*ANGLE_UNIT;//+180.0f;
-        YawRel          =((double)YawIMU2)*ANGLE_UNIT;
-        
-        GimbalCnt=1;
-    }    
     else{GimbalCnt=1;}
 }
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