Joli\ArDrone\Control\AtCommandCreator::floatToIEEE PHP Метод

    private function floatToIEEE($floatInt)
    {
        $floatInt = (double) $floatInt;
        $binInt = pack('f', $floatInt);
        $hexInt = '';
        for ($i = 0; $i < strlen($binInt); ++$i) {
            $c = ord($binInt[$i]);
            $hexInt = sprintf('%02X', $c) . $hexInt;
        }
        if ($floatInt < 0) {
            $binIntString = decbin(hexdec($hexInt));
            $twoComplement = '';
            for ($i = 0; $i < strlen($binIntString); ++$i) {
                if ($binIntString[$i] == '0') {
                    $twoComplement .= '1';
                } else {
                    $twoComplement .= '0';
                }
            }
            return -(bindec($twoComplement) + 1);
        } else {
            return hexdec($hexInt);
        }
    }