Ready to pull new command changes

groundStation/src/cli/cli_getsetpoint.c

@@ -7,6 +7,7 @@
 int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 	int c;
 	static int getheight = 0, getlat = 0, getlong = 0;
+	static int getpitch = 0, getroll = 0, getyaw = 0;
 	struct frontend_setpoint_data setpoint_data;
 	static int needHelp = 0;
 	static int mask;
@@ -16,6 +17,9 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
  		{"height",  no_argument,	&getheight, 1},
  		{"long",	no_argument,	&getlong,	1},
  		{"lat",		no_argument, 	&getlat,	1},
+ 		{"pitch",   no_argument,	&getpitch,  1},
+ 		{"roll",	no_argument,	&getroll,	1},
+ 		{"yaw",		no_argument, 	&getyaw,	1},
  		{0, 0, 0, 0}
  	};
 
@@ -35,18 +39,24 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 			getheight = 1;
 			getlat = 1;
 			getlong = 1;
+			getpitch = 1;
+			getroll = 1;
+			getyaw = 1;
 		}
 
 	}
 
 	if (needHelp) {
-		printf("Getsetpoint gets the height, lat , and long set point values for the quad.\n");
+		printf("Getsetpoint gets the height, lat, long, pitch, roll and yaw set point values for the quad.\n");
 		printf("Usage Syntax : \n\t./Cli getsetpoint [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./getsetpoint [options...]\n\n");
 		printf("Available options include the following\n");
 		printf("\t[--height] : Gets the height setpoint\n");
 		printf("\t[--lat]    : Gets the latitude setpoint\n");
 		printf("\t[--long]   : Gets the longitude setpoint\n");
+		printf("\t[--pitch]  : Gets the pitch setpoint\n");
+		printf("\t[--roll]   : Gets the roll setpoint\n");
+		printf("\t[--yaw]    : Gets the yaw setpoint\n");
 		return 0;
 	}
 
@@ -70,6 +80,21 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 			return result;
 		}
 	}
+	if(getpitch) {
+		if ((result = getSetPointValues(conn, &setpoint_data, PITCH))) {
+			return result;
+		}
+	}
+	if(getroll) {
+		if ((result = getSetPointValues(conn, &setpoint_data, ROLL))) {
+			return result;
+		}
+	}
+	if(getyaw) {
+		if ((result = getSetPointValues(conn, &setpoint_data, YAW))) {
+			return result;
+		}
+	}
 
 	return 0;
 }
@@ -90,6 +115,16 @@ int getSetPointValues(struct backend_conn * conn, struct frontend_setpoint_data
 		case LONGG :
 			printf("Longitude: %f\n",
 				setpoint_data->longg);
+		case PITCH :
+			printf("Pitch: %f\n",
+				setpoint_data->pitch);
+			break;
+		case ROLL :
+			printf("Roll: %f\n",
+				setpoint_data->roll);
+		case YAW :
+			printf("Yaw: %f\n",
+				setpoint_data->yaw);
 		default :
 			break;
 	}

groundStation/src/cli/cli_getsetpoint.h

@@ -3,9 +3,14 @@
 
 #include "frontend_getsetpoint.h"
 
-#define HEIGHT 0
-#define LAT 1
-#define LONGG 2
+enum {
+	HEIGHT,
+	LAT,
+	LONGG,
+	PITCH,
+	ROLL,
+	YAW
+};
 
 int getSetPointValues(struct backend_conn *, struct frontend_setpoint_data *, int type);
 int cli_getsetpoint(struct backend_conn * conn, int argc, char ** argv);

groundStation/src/cli/cli_setsetpoint.c

@@ -7,15 +7,19 @@
 int cli_setsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 	int c;
 	static int setheight = 0, setlat = 0, setlong = 0;
+	static int setpitch = 0, setroll = 0, setyaw = 0;
 	struct frontend_setpoint_data setpoint_data;
 	static int needHelp = 0;
 	static int mask;
 	static struct option long_options[] = {
  		/* These options don’t set a flag. We distinguish them by their indices. */
- 		{"help",	no_argument,	&needHelp,	1},
+ 		{"help",	no_argument,	    &needHelp,	1},
  		{"height",  required_argument,	0,  'h'},
  		{"long",	required_argument,	0,	'l'},
  		{"lat",		required_argument, 	0,	't'},
+ 		{"pitch",   required_argument,	0,  'p'},
+ 		{"roll",	required_argument,	0,	'r'},
+ 		{"yaw",		required_argument, 	0,	'y'},
  		{0, 0, 0, 0}
  	};
 
@@ -43,6 +47,18 @@ int cli_setsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 				setpoint_data.longg  = atof(optarg);
 				mask |= SET_LONG;
 				break;
+			case 'p' :
+				setpoint_data.pitch  = atof(optarg);
+				mask |= SET_PITCH;
+				break;
+			case 'r' :
+				setpoint_data.roll  = atof(optarg);
+				mask |= SET_ROLL;
+				break;
+			case 'y' :
+				setpoint_data.yaw  = atof(optarg);
+				mask |= SET_YAW;
+				break;
 			default :
 				break;
 		}
@@ -50,13 +66,16 @@ int cli_setsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 	}
 
 	if (needHelp) {
-		printf("Setsetpoint sets the height, lat , or long set point values for the quad.\n");
+		printf("Setsetpoint sets the height, lat, long, pitch, roll, or yaw set point values for the quad.\n");
 		printf("Usage Syntax : \n\t./Cli setsetpoint [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./setsetpoint [options...]\n\n");
 		printf("Available options include the following\n");
 		printf("\t[--height] 'val' : Sets the height setpoint value to 'val'\n");
 		printf("\t[--lat]    'val' : Sets the latitude setpoint value to 'val'\n");
 		printf("\t[--long]   'val' : Sets the longitude setpoint value to 'val'\n");
+		printf("\t[--pitch]  'val' : Sets the pitch setpoint value to 'val'\n");
+		printf("\t[--roll]   'val' : Sets the roll setpoint value to 'val'\n");
+		printf("\t[--yaw]    'val' : Sets the yaw setpoint value to 'val'\n");
 		return 0;
 	}
 

groundStation/src/frontend/frontend_getsetpoint.c

@@ -33,6 +33,15 @@ int frontend_getsetpoint(
 		case LONGG :
 			strncpy(line, "getlong\n", 8);
 			break;
+		case PITCH :
+			strncpy(line, "getpitch\n", 9);
+			break;
+		case ROLL :
+			strncpy(line, "getroll\n", 8);
+			break;
+		case YAW :
+			strncpy(line, "getyaw\n", 7);
+			break;
 	}
 	int size;
 	if((size = ucart_backendWrite(conn, line)) < 0 ) {

groundStation/src/frontend/frontend_setsetpoint.h

@@ -12,9 +12,12 @@ int frontend_setsetpoint(
 #define SET_LAT 0x01
 #define SET_LONG 0x02
 #define SET_HEIGHT 0x04
+#define SET_PITCH 0x08
+#define SET_ROLL  0x10
+#define SET_YAW   0x20
 
 #ifndef SET_ALL
-#define SET_ALL (SET_LAT | SET_LONG | SET_HEIGHT)
+#define SET_ALL (SET_LAT | SET_LONG | SET_HEIGHT | SET_PITCH | SET_ROLL | SET_YAW)
 #endif /* SET_ALL */
 
 #endif /* __FRONTEND_SETSETPOINT_H */
\ No newline at end of file

groundStation/src/frontend/setpoint_common.h

@@ -6,6 +6,9 @@ struct frontend_setpoint_data {
 	float lat;
 	/* names with two g's due to long type name */
 	float longg;
+	float pitch;
+	float roll;
+	float yaw;
 };