From 5b3136476510bde919ceac7a36d1ddb0a31e8b99 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Wed, 16 Mar 2022 17:45:03 -0500
Subject: [PATCH] Added custom attitude setpoint packet, ID 9
---
.../src/modules/src/crtp_commander_generic.c | 33 +++++++++++++++++++
1 file changed, 33 insertions(+)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
index 9d038cc5c..a4b1f55c4 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c
@@ -72,6 +72,7 @@ enum packet_type {
fullStateType = 6,
positionType = 7,
attitudeRateType = 8,
+ attitudeType = 9,
};
/* ---===== 2 - Decoding functions =====--- */
@@ -399,6 +400,37 @@ static void attitudeRateDecoder(setpoint_t *setpoint, uint8_t type, const void *
setpoint->thrust = values->thrust;
}
+/*
+ * Custom Attitude decoder, bypasses the normal attitude control path,
+ * packet contains the desired attitude angle in addition to the thrust value
+ */
+struct attitudePacket_s{
+ float rollAngle; // deg
+ float pitchAngle; // deg
+ float yawAngle; // deg
+ float thrust; // thrust percentage 0 - 60,000
+} __attribute__((packed));
+static void attitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen){
+
+ const struct attitudePacket_s *values = data;
+
+ ASSERT(datalen == sizeof(struct attitudePacket_s));
+
+ setpoint->mode.x = modeDisable;
+ setpoint->mode.y = modeDisable;
+ setpoint->mode.z = modeDisable;
+
+ setpoint->mode.roll = modeAbs;
+ setpoint->mode.pitch = modeAbs;
+ setpoint->mode.yaw = modeAbs;
+
+ setpoint->attitude.roll = values->rollAngle;
+ setpoint->attitude.pitch = values->pitchAngle;
+ setpoint->attitude.yaw = values->yawAngle;
+
+ setpoint->thrust = values->thrust;
+}
+
/* ---===== 3 - packetDecoders array =====--- */
const static packetDecoder_t packetDecoders[] = {
[stopType] = stopDecoder,
@@ -410,6 +442,7 @@ const static packetDecoder_t packetDecoders[] = {
[fullStateType] = fullStateDecoder,
[positionType] = positionDecoder,
[attitudeRateType] = attitudeRateDecoder,
+ [attitudeType] = attitudeDecoder,
};
/* Decoder switch */
--
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