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https://github.com/azaion/autopilot.git
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Nffj84
33399370f3
Simple program to control Siyi A8 mini (actually some other Siyi cameras too). Receiving responce sometimes gives error when checking CRC.
49 lines
1.7 KiB
C++
49 lines
1.7 KiB
C++
#include "serialResponse.h"
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#include "crc16.h"
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#include "defines.h"
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#include <QDebug>
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#include <QString>
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void SerialResponse::printResponse(QByteArray response) {
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QString responseStr;
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for (int i = 0; i < response.size(); i++) {
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responseStr +=
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QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
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}
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qDebug() << "Response: " << responseStr;
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responseStr = "";
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uint8_t command = response.at(MESSAGE_IDX::CMD_ID);
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// Check response data validity
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uint8_t crcCheck[2];
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CRC16::getCRCBytes(response.mid(0, response.size() - 2), crcCheck);
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// Data not OK
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if (crcCheck[0] != response.at(response.size() - 2) ||
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crcCheck[1] != response.at(response.size() - 1)) {
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qWarning() << "Response data not valid";
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return;
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}
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qInfo() << "Response data is valid";
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if (command == 0x0E) {
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int16_t yaw = (static_cast<uint8_t>(response.at(9)) << 8) |
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static_cast<uint8_t>(response.at(8));
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int16_t pitch = (static_cast<uint8_t>(response.at(11)) << 8) |
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static_cast<uint8_t>(response.at(10));
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int16_t roll = (static_cast<uint8_t>(response.at(13)) << 8) |
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static_cast<uint8_t>(response.at(12));
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qInfo().noquote() << "Yaw: " << QString::number(yaw / 10) + "°";
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qInfo().noquote() << "Pitch: " << QString::number(pitch / 10) + "°";
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qInfo().noquote() << "Roll: " << QString::number(roll / 10) + "°";
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} else {
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for (int i = 0; i < response.size(); i++) {
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responseStr +=
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QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
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}
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qInfo() << "Response: " << responseStr;
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}
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}
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