Update callbacks.c added some of the getter call backs and some more setters.

There are still more changes needed to have full functionality

quad/sw/modular_quad_pid/src/callbacks.c

@@ -63,6 +63,9 @@ int cb_update(modular_structs_t *structs)
 	return 0;
 }
 
+
+/* Misc. callbacks */
+
 // This is called on the ground station to begin sending VRPN to the quad
 int cb_beginupdate(modular_structs_t *structs) {
 	structs->user_input_struct.receivedBeginUpdate = 1;
@@ -83,15 +86,18 @@ int cb_response(modular_structs_t *structs)
 	return 0;
 }
 
-int cb_setyaw(modular_structs_t *structs)
+
+/* Callbacks for configuration (setters)*/
+
+int cb_setyawp(modular_structs_t *structs)
 {
-	structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
+	structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
 	return 0;
 }
 
-int cb_setyawp(modular_structs_t *structs)
+int cb_setyawi(modular_structs_t *structs)
 {
-	structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
+	structs->parameter_struct.yaw_angle_pid.Ki = uart_buff_data_get_float(0);
 	return 0;
 }
 
@@ -101,15 +107,15 @@ int cb_setyawd(modular_structs_t *structs)
 	return 0;
 }
 
-int cb_setroll(modular_structs_t *structs)
+int cb_setrollp(modular_structs_t *structs)
 {
-	structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
+	structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
 	return 0;
 }
 
-int cb_setrollp(modular_structs_t *structs)
+int cb_setrolli(modular_structs_t *structs)
 {
-	structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
+	structs->parameter_struct.roll_angle_pid.Ki = uart_buff_data_get_float(0);
 	return 0;
 }
 
@@ -119,15 +125,15 @@ int cb_setrolld(modular_structs_t *structs)
 	return 0;
 }
 
-int cb_setpitch(modular_structs_t *structs)
+int cb_setpitchp(modular_structs_t *structs)
 {
-	structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
+	structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
 	return 0;
 }
 
-int cb_setpitchp(modular_structs_t *structs)
+int cb_setpitchi(modular_structs_t *structs)
 {
-	structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
+	structs->parameter_struct.pitch_angle_pid.Ki = uart_buff_data_get_float(0);
 	return 0;
 }
 
@@ -137,9 +143,93 @@ int cb_setpitchd(modular_structs_t *structs)
 	return 0;
 }
 
-int cb_setheight(modular_structs_t *structs)
+int cb_setyawratep(modular_structs_t *structs)
 {
-	structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
+	structs->parameter_struct.yaw_ang_vel_pid.Kp = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setyawratei(modular_structs_t *structs)
+{
+	structs->parameter_struct.yaw_ang_vel_pid.Ki = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setyawrated(modular_structs_t *structs)
+{
+	structs->parameter_struct.yaw_ang_vel_pid.Kd = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setrollratep(modular_structs_t *structs)
+{
+	structs->parameter_struct.roll_ang_vel_pid.Kp = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setrollratei(modular_structs_t *structs)
+{
+	structs->parameter_struct.roll_ang_vel_pid.Ki = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setrollrated(modular_structs_t *structs)
+{
+	structs->parameter_struct.roll_ang_vel_pid.Kd = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setpitchratep(modular_structs_t *structs)
+{
+	structs->parameter_struct.pitch_ang_vel_pid.Kp = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setpitchratei(modular_structs_t *structs)
+{
+	structs->parameter_struct.pitch_ang_vel_pid.Ki = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setpitchrated(modular_structs_t *structs)
+{
+	structs->parameter_struct.pitch_ang_vel_pid.Kd = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setxp(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_x_pid.Kp = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setxi(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_x_pid.Ki = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setxd(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_x_pid.Kd = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setyp(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_y_pid.Kp = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setyi(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_y_pid.Ki = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setyd(modular_structs_t *structs)
+{
+	structs->parameter_struct.local_y_pid.Kd = uart_buff_data_get_float(0);
 	return 0;
 }
 
@@ -157,3 +247,244 @@ int cb_setheightd(modular_structs_t *structs)
 {
 	structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
 }
+
+int cb_setheight(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setx(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.x_pos = uart_buff_data_get_float(0);
+	return 0;
+}
+
+// TODO cb_sety will replace cb_setlat in commands.c once we talk about it
+int cb_sety(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.y_pos = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setlon(modular_structs_t *structs)
+{
+    // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
+	return 0;
+}
+
+int cb_setlat(modular_structs_t *structs)
+{
+    // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
+	return 0;
+}
+
+int cb_setyaw(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setpitch(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
+	return 0;
+}
+
+int cb_setroll(modular_structs_t *structs)
+{
+	structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
+	return 0;
+}
+
+
+/* callbacks for getters */
+
+int cb_getyawp(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[0].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getyawi(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getyawd(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[2].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrollp(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[3].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrolli(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[4].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrolld(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[5].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchp(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[6].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchi(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[7].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchd(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[8].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+
+
+
+
+
+
+
+
+
+int cb_getyawratep(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[9].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getyawratei(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[10].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getyawrated(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[11].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrollratep(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[12].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrollratei(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[13].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getrollrated(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[14].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchratep(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Kp);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[15].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchratei(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Ki);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[16].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+int cb_getpitchrated(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Kd);
+
+	send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[17].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}