/** Encode message with raw data and other informations */
public byte[] encode() throws IOException {
byte[] buffer = new byte[8 + 21];
LittleEndianDataOutputStream dos =
new LittleEndianDataOutputStream(new ByteArrayOutputStream());
dos.writeByte((byte) 0xFE);
dos.writeByte(length & 0x00FF);
dos.writeByte(sequence & 0x00FF);
dos.writeByte(sysId & 0x00FF);
dos.writeByte(componentId & 0x00FF);
dos.writeByte(messageType & 0x00FF);
dos.writeFloat(roll);
dos.writeFloat(pitch);
dos.writeFloat(yaw);
dos.writeFloat(thrust);
dos.writeByte(target & 0x00FF);
dos.writeByte(roll_manual & 0x00FF);
dos.writeByte(pitch_manual & 0x00FF);
dos.writeByte(yaw_manual & 0x00FF);
dos.writeByte(thrust_manual & 0x00FF);
dos.flush();
byte[] tmp = dos.toByteArray();
for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
int crc = MAVLinkCRC.crc_calculate_encode(buffer, 21);
crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
byte crcl = (byte) (crc & 0x00FF);
byte crch = (byte) ((crc >> 8) & 0x00FF);
buffer[27] = crcl;
buffer[28] = crch;
dos.close();
return buffer;
}
/** Encode message with raw data and other informations */
public byte[] encode() throws IOException {
byte[] buffer = new byte[8 + 43];
LittleEndianDataOutputStream dos =
new LittleEndianDataOutputStream(new ByteArrayOutputStream());
dos.writeByte((byte) 0xFE);
dos.writeByte(length & 0x00FF);
dos.writeByte(sequence & 0x00FF);
dos.writeByte(sysId & 0x00FF);
dos.writeByte(componentId & 0x00FF);
dos.writeByte(messageType & 0x00FF);
dos.writeFloat(x);
dos.writeFloat(y);
dos.writeFloat(z);
dos.writeShort(timeout & 0x00FFFF);
dos.writeByte(type & 0x00FF);
dos.writeByte(color & 0x00FF);
dos.writeByte(coordinate_system & 0x00FF);
for (int i = 0; i < 26; i++) {
dos.writeByte(name[i]);
}
dos.flush();
byte[] tmp = dos.toByteArray();
for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
int crc = MAVLinkCRC.crc_calculate_encode(buffer, 43);
crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
byte crcl = (byte) (crc & 0x00FF);
byte crch = (byte) ((crc >> 8) & 0x00FF);
buffer[49] = crcl;
buffer[50] = crch;
dos.close();
return buffer;
}
/** Encode message with raw data and other informations */
public byte[] encode() throws IOException {
byte[] buffer = new byte[12 + 28];
LittleEndianDataOutputStream dos =
new LittleEndianDataOutputStream(new ByteArrayOutputStream());
dos.writeByte((byte) 0xFD);
dos.writeByte(length & 0x00FF);
dos.writeByte(incompat & 0x00FF);
dos.writeByte(compat & 0x00FF);
dos.writeByte(packet & 0x00FF);
dos.writeByte(sysId & 0x00FF);
dos.writeByte(componentId & 0x00FF);
dos.writeByte(messageType & 0x00FF);
dos.writeByte((messageType >> 8) & 0x00FF);
dos.writeByte((messageType >> 16) & 0x00FF);
dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
dos.writeFloat(x);
dos.writeFloat(y);
dos.writeFloat(z);
dos.writeFloat(roll);
dos.writeFloat(pitch);
dos.writeFloat(yaw);
dos.flush();
byte[] tmp = dos.toByteArray();
for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
int crc = MAVLinkCRC.crc_calculate_encode(buffer, 28);
crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
byte crcl = (byte) (crc & 0x00FF);
byte crch = (byte) ((crc >> 8) & 0x00FF);
buffer[38] = crcl;
buffer[39] = crch;
dos.close();
return buffer;
}
/** Encode message with raw data and other informations */
public byte[] encode() throws IOException {
byte[] buffer = new byte[8 + 35];
LittleEndianDataOutputStream dos =
new LittleEndianDataOutputStream(new ByteArrayOutputStream());
dos.writeByte((byte) 0xFE);
dos.writeByte(length & 0x00FF);
dos.writeByte(sequence & 0x00FF);
dos.writeByte(sysId & 0x00FF);
dos.writeByte(componentId & 0x00FF);
dos.writeByte(messageType & 0x00FF);
dos.writeFloat(param1);
dos.writeFloat(param2);
dos.writeFloat(param3);
dos.writeFloat(param4);
dos.writeInt((int) (x & 0x00FFFFFFFF));
dos.writeInt((int) (y & 0x00FFFFFFFF));
dos.writeFloat(z);
dos.writeShort(command & 0x00FFFF);
dos.writeByte(target_system & 0x00FF);
dos.writeByte(target_component & 0x00FF);
dos.writeByte(frame & 0x00FF);
dos.writeByte(current & 0x00FF);
dos.writeByte(autocontinue & 0x00FF);
dos.flush();
byte[] tmp = dos.toByteArray();
for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
int crc = MAVLinkCRC.crc_calculate_encode(buffer, 35);
crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
byte crcl = (byte) (crc & 0x00FF);
byte crch = (byte) ((crc >> 8) & 0x00FF);
buffer[41] = crcl;
buffer[42] = crch;
dos.close();
return buffer;
}
/** Encode message with raw data and other informations */
public byte[] encode() throws IOException {
byte[] buffer = new byte[12 + 23];
LittleEndianDataOutputStream dos =
new LittleEndianDataOutputStream(new ByteArrayOutputStream());
dos.writeByte((byte) 0xFD);
dos.writeByte(length & 0x00FF);
dos.writeByte(incompat & 0x00FF);
dos.writeByte(compat & 0x00FF);
dos.writeByte(packet & 0x00FF);
dos.writeByte(sysId & 0x00FF);
dos.writeByte(componentId & 0x00FF);
dos.writeByte(messageType & 0x00FF);
dos.writeByte((messageType >> 8) & 0x00FF);
dos.writeByte((messageType >> 16) & 0x00FF);
dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
dos.writeFloat(image_interval);
dos.writeFloat(video_framerate);
dos.writeShort(image_resolution_h & 0x00FFFF);
dos.writeShort(image_resolution_v & 0x00FFFF);
dos.writeShort(video_resolution_h & 0x00FFFF);
dos.writeShort(video_resolution_v & 0x00FFFF);
dos.writeByte(camera_id & 0x00FF);
dos.writeByte(image_status & 0x00FF);
dos.writeByte(video_status & 0x00FF);
dos.flush();
byte[] tmp = dos.toByteArray();
for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
int crc = MAVLinkCRC.crc_calculate_encode(buffer, 23);
crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
byte crcl = (byte) (crc & 0x00FF);
byte crch = (byte) ((crc >> 8) & 0x00FF);
buffer[33] = crcl;
buffer[34] = crch;
dos.close();
return buffer;
}