void send_control_uchar(unsigned int type, unsigned char data) {
frame_control_uchar frame;
frame.frame_type = type;
frame.len1 = 1;
frame.data = data;
m_control_socket.send(boost::asio::buffer(&frame, sizeof(frame)));
}
void send_control_ushort(unsigned int type, unsigned short data) {
frame_control_ushort frame;
frame.frame_type = type;
frame.len1 = 2;
frame.data = data;
m_control_socket.send(boost::asio::buffer(&frame, sizeof(frame)));
}
void SendCmd()
{
socket_.send(boost::asio::buffer(boost::str(boost::format("s,%1%,%2%,%3%,%4%") % Pitch_ % Roll_ % Yaw_ % H_)));
}