diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index d1efa7e38e551784baca1124158b768b06b2ec90..a97197b8106334e13b2e652ab93c1228f868ce0b 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -44,29 +44,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Message Type ID
0x01,
- // Calibration Subtypes
+ // Calibration Subtypes (PID coefficients)
{
- // yaw setpoint subtype
+ // yaw p constant subtype
{
// ID
0x00,
// Command text
- "setyaw",
+ "setyawp",
// Type of the command data
floatType,
// Function pointer
- &setyaw
+ NULL
},
- // yaw p constant subtype
+ // yaw i constant subtype
{
// ID
0x01,
// Command text
- "setyawp",
+ "setyawi",
// Type of the command data
floatType,
// Function pointer
- &setyawp
+ NULL
},
// yaw d constant subtype
{
@@ -77,29 +77,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &setyawd
+ NULL
},
- // roll setpoint subtype
+ // roll p constant subtype
{
// ID
0x03,
// Command text
- "setroll",
+ "setrollp",
// Type of the command data
floatType,
// Function pointer
- &setroll
+ NULL
},
- // roll p constant subtype
+ // roll i constant subtype
{
// ID
0x04,
// Command text
- "setrollp",
+ "setrolli",
// Type of the command data
floatType,
// Function pointer
- &setrollp
+ NULL
},
// roll d constant subtype
{
@@ -110,29 +110,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &setrolld
+ NULL
},
- // pitch setpoint subtype
+ // pitch p constant subtype
{
// ID
0x06,
// Command text
- "setpitch",
+ "setpitchp",
// Type of the command data
floatType,
// Function pointer
- &setpitch
+ NULL
},
- // pitch p constant subtype
+ // pitch i constant subtype
{
// ID
0x07,
// Command text
- "setpitchp",
+ "setpitchi",
// Type of the command data
floatType,
// Function pointer
- &setpitchp
+ NULL
},
// pitch d constant subtype
{
@@ -143,51 +143,205 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &setpitchd
+ NULL
},
- // throttle setpoint subtype
+ // yawrate p constant subtype
{
// ID
0x09,
// Command text
- "setthrottle",
+ "setyawratep",
// Type of the command data
floatType,
// Function pointer
- &setthrottle
+ NULL
},
- // throttle p constant subtype
+ // yawrate i constant subtype
{
// ID
0x0A,
// Command text
- "setthrottlep",
+ "setyawratei",
// Type of the command data
floatType,
// Function pointer
- &setthrottlep
+ NULL
},
- // throttle i constant subtype
+ // yawrate d constant subtype
{
// ID
0x0B,
// Command text
- "setthrottlei",
+ "setyawrated",
// Type of the command data
floatType,
// Function pointer
- &setthrottlei
+ NULL
},
- // throttle d constant subtype
+ // rollrate p constant subtype
{
// ID
0x0C,
// Command text
- "setthrottled",
+ "setrollratep",
// Type of the command data
floatType,
// Function pointer
- &getthrottled
+ NULL
+ },
+ // rollrate i constant subtype
+ {
+ // ID
+ 0x0D,
+ // Command text
+ "setrollratei",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // rollrate d constant subtype
+ {
+ // ID
+ 0x0E,
+ // Command text
+ "setrollrated",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // pitchrate p constant subtype
+ {
+ // ID
+ 0x0F,
+ // Command text
+ "setpitchratep",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // pitchrate i constant subtype
+ {
+ // ID
+ 0x10,
+ // Command text
+ "setpitchratei",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // pitchrate d constant subtype
+ {
+ // ID
+ 0x11,
+ // Command text
+ "setpitchrated",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // height p constant subtype
+ {
+ // ID
+ 0x12,
+ // Command text
+ "setheightp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // height i constant subtype
+ {
+ // ID
+ 0x13,
+ // Command text
+ "setheighti",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // height d constant subtype
+ {
+ // ID
+ 0x14,
+ // Command text
+ "setheightd",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // lat p constant subtype
+ {
+ // ID
+ 0x15,
+ // Command text
+ "setlatp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // lat i constant subtype
+ {
+ // ID
+ 0x16,
+ // Command text
+ "setlati",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // lat d constant subtype
+ {
+ // ID
+ 0x17,
+ // Command text
+ "setlatd",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // long p constant subtype
+ {
+ // ID
+ 0x18,
+ // Command text
+ "setlongp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // long i constant subtype
+ {
+ // ID
+ 0x19,
+ // Command text
+ "setlongi",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
+ },
+ // long d constant subtype
+ {
+ // ID
+ 0x1A,
+ // Command text
+ "setlongd",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ NULL
}
}
},
@@ -993,4 +1147,4 @@ int respthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs
}
int respthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
-}
\ No newline at end of file
+}
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index 86784506d05122229d04cad6cb5ed78eb9fcbb4c..2dacd03f90afb8ed35b99a56f34ca785225e3350 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -256,12 +256,16 @@ int processCommand(unsigned char *packet, modular_structs_t *structs) {
}
if(metadata.data_len >= 0) {
- // Call the appropriate subtype function
- (* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
-
+ /* Null check*/
+ if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
+ (unsigned char) metadata.msg_subtype].functionPtr) {
+ // Call the appropriate subtype function
+ (* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
+ }
+
return 0;
}
// Only gets here if there is an error
return -1;
-}
\ No newline at end of file
+}
diff --git a/groundStation/src/cli/cli_setpid.c b/groundStation/src/cli/cli_setpid.c
index b0ed03cf1b31b0652c5b617a342cebb422250274..2fdc16fdb43e6e42ea5eea16153d98eeb5978302 100644
--- a/groundStation/src/cli/cli_setpid.c
+++ b/groundStation/src/cli/cli_setpid.c
@@ -63,19 +63,19 @@ int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
} else if (setPitch) {
pid_data.controller = PID_PITCH;
} else if (setRollV) {
- pid_data.controller = PID_ROLL_VELOCITY;
+ pid_data.controller = PID_ROLL_RATE;
} else if (setPitchV) {
- pid_data.controller = PID_PITCH_VELOCITY;
+ pid_data.controller = PID_PITCH_RATE;
} else if (setYawV) {
- pid_data.controller = PID_YAW_VELOCITY;
+ pid_data.controller = PID_YAW_RATE;
} else if (setHeight) {
pid_data.controller = PID_HEIGHT;
} else if (setLong) {
- pid_data.controller = PID_LONG;
- } else if (setLat) {
pid_data.controller = PID_LAT;
+ } else if (setLat) {
+ pid_data.controller = PID_LONG;
}
frontend_setpid(conn, &pid_data, mask);
return 0;
-}
\ No newline at end of file
+}
diff --git a/groundStation/src/frontend/frontend_setpid.c b/groundStation/src/frontend/frontend_setpid.c
index 0a25d8e3c068ebcd8d121dac7469f86cc6d8a8c6..58bf4109cd1c50d22486e464c101c9f8dd3c367e 100644
--- a/groundStation/src/frontend/frontend_setpid.c
+++ b/groundStation/src/frontend/frontend_setpid.c
@@ -25,7 +25,24 @@ int frontend_setpid(
case PID_YAW:
controller = "yaw";
break;
- /* What is the "throttle" pid constant? */
+ case PID_PITCH_RATE:
+ controller = "pitchrate";
+ break;
+ case PID_ROLL_RATE:
+ controller = "rollrate";
+ break;
+ case PID_YAW_RATE:
+ controller = "yawrate";
+ break;
+ case PID_HEIGHT:
+ controller = "height";
+ break;
+ case PID_LAT:
+ controller = "lat";
+ break;
+ case PID_LONG:
+ controller = "long";
+ break;
default:
warnx("Unsupported PID constant");
return -1;
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index efa24df4a2b018b1a3b353a109cd29a044647a13..c40c4fb42fb19bf7caf22a03effe091fb7621ece 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -5,9 +5,9 @@ enum pid_controller {
PID_PITCH,
PID_ROLL,
PID_YAW,
- PID_PITCH_VELOCITY,
- PID_ROLL_VELOCITY,
- PID_YAW_VELOCITY,
+ PID_PITCH_RATE,
+ PID_ROLL_RATE,
+ PID_YAW_RATE,
PID_HEIGHT, /* Z */
PID_LAT, /* X */
PID_LONG, /* Y */