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QByteArray ba;
signed short Angle[3] = {0};
char *data = NULL;
//QString str;
while(udpsocket->hasPendingDatagrams())
{
ba.resize(udpsocket->pendingDatagramSize());
udpsocket->readDatagram(ba.data(),ba.size());
//ui->textEdit_recv->setText(ba.data());
data = ba.data();
Angle[0] = char2hex(data[10])<<12 | char2hex(data[11])<<8 | char2hex(data[12])<<4 | char2hex(data[13]);
Angle[1] = char2hex(data[14])<<12 | char2hex(data[15])<<8 | char2hex(data[16])<<4 | char2hex(data[17]);
//Angle[2] = char2hex(data[18])<<12 | char2hex(data[19])<<8 | char2hex(data[20])<<4 | char2hex(data[21]);
OffsetYaw = Angle[0]/100;
OffsetPitch = -Angle[1]/100;
// str = QString::number(Angle[0]/100,10); str += "\r\n";
// str += QString::number(Angle[1]/100,10); str += "\r\n";
// str += QString::number(Angle[2]/100,10); str += "\r\n";
}
data = *(buf+28);