MWC飞控通讯

前几个星期入手了一款基于MWC飞控的WIFI小四轴，缺点就是只有手机APP。操作起来没有手感。寻思着用Ardiuno+C#做一个实体遥控器。首先是封装MWC通讯格式，下面就是封装的代码。最后结局就是手滑没调好撞废一个硬盘

/// <summary>
/// 获取发送Byte
/// </summary>
/// <param name="command">操作</param>
/// <param name="data">数据</param>
/// <returns></returns>
public byte[] GetFlyByte(int command, int[] data)
{
    byte[] FlyByte = new byte[data.Length + 6];
    // $
    FlyByte[0] = (byte)Convert.ToInt32("24", 16);
    // M
    FlyByte[1] = (byte)Convert.ToInt32("4D", 16);
    // <
    FlyByte[2] = (byte)Convert.ToInt32("3C", 16);
    //数据长度
    FlyByte[3] = (byte)Convert.ToInt32(data.Length.ToString("X"), 16);
    //操作
    FlyByte[4] = (byte)Convert.ToInt32(command.ToString("X"), 16);
    
    byte[] ConvertData = new byte[data.Length];
    //发送数据赋值 与 校验数据赋值
    for (int i = 5, j = 0; i < data.Length + 5; i++, j++ )
    { 
        FlyByte[i] = (byte)data[j];
        ConvertData[j] = (byte)data[j];
    }

    FlyByte[FlyByte.Length-1] = CheckNumber((byte)command, ConvertData);
    return FlyByte;
}

/// <summary>
/// 获取校验码
/// </summary>
/// <param name="command">操作</param>
/// <param name="data">数据</param>
/// <returns>校验码</returns>
private byte CheckNumber(byte command, byte[] data)
{
    byte rdata = 0;

    rdata ^= (byte)(data.Length & 0xFF);
    rdata ^= (byte)(command & 0xFF);

    for (int i = 0; i < data.Length; i++)
        rdata ^= (byte)(data[i] & 0xFF);

    return rdata;
}

MWC通讯格式官方文档:http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol