From 64f0201bba1e4ca9b144fab9f2bd366eac88dad2 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Fri, 27 Jan 2017 18:19:56 -0600
Subject: [PATCH] Undoing accidental commits to commands.c and quad
callbacks.c.
---
groundStation/src/backend/commands.c | 192 ++++++------
quad/sw/modular_quad_pid/src/callbacks.c | 359 +----------------------
2 files changed, 107 insertions(+), 444 deletions(-)
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 67d8d4735..3cf67d028 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -74,20 +74,18 @@ command_cb cb_setrollrated __attribute__((weak, alias("cb_default")));
command_cb cb_setpitchratep __attribute__((weak, alias("cb_default")));
command_cb cb_setpitchratei __attribute__((weak, alias("cb_default")));
command_cb cb_setpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setxp __attribute__((weak, alias("cb_default")));
-command_cb cb_setxi __attribute__((weak, alias("cb_default")));
-command_cb cb_setxd __attribute__((weak, alias("cb_default")));
-command_cb cb_setyp __attribute__((weak, alias("cb_default")));
-command_cb cb_setyi __attribute__((weak, alias("cb_default")));
-command_cb cb_setyd __attribute__((weak, alias("cb_default")));
+command_cb cb_setlatp __attribute__((weak, alias("cb_default")));
+command_cb cb_setlati __attribute__((weak, alias("cb_default")));
+command_cb cb_setlatd __attribute__((weak, alias("cb_default")));
+command_cb cb_setlongp __attribute__((weak, alias("cb_default")));
+command_cb cb_setlongi __attribute__((weak, alias("cb_default")));
+command_cb cb_setlongd __attribute__((weak, alias("cb_default")));
command_cb cb_setheightp __attribute__((weak, alias("cb_default")));
command_cb cb_setheighti __attribute__((weak, alias("cb_default")));
command_cb cb_setheightd __attribute__((weak, alias("cb_default")));
command_cb cb_setheight __attribute__((weak, alias("cb_default")));
-command_cb cb_setx __attribute__((weak, alias("cb_default")));
-command_cb cb_sety __attribute__((weak, alias("cb_default")));
-command_cb cb_setlon __attribute__((weak, alias("cb_default")));
command_cb cb_setlat __attribute__((weak, alias("cb_default")));
+command_cb cb_setlong __attribute__((weak, alias("cb_default")));
command_cb cb_setyaw __attribute__((weak, alias("cb_default")));
command_cb cb_setpitch __attribute__((weak, alias("cb_default")));
command_cb cb_setroll __attribute__((weak, alias("cb_default")));
@@ -111,20 +109,18 @@ command_cb cb_getrollrated __attribute__((weak, alias("cb_default")));
command_cb cb_getpitchratep __attribute__((weak, alias("cb_default")));
command_cb cb_getpitchratei __attribute__((weak, alias("cb_default")));
command_cb cb_getpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getxp __attribute__((weak, alias("cb_default")));
-command_cb cb_getxi __attribute__((weak, alias("cb_default")));
-command_cb cb_getxd __attribute__((weak, alias("cb_default")));
-command_cb cb_getyp __attribute__((weak, alias("cb_default")));
-command_cb cb_getyi __attribute__((weak, alias("cb_default")));
-command_cb cb_getyd __attribute__((weak, alias("cb_default")));
+command_cb cb_getlatp __attribute__((weak, alias("cb_default")));
+command_cb cb_getlati __attribute__((weak, alias("cb_default")));
+command_cb cb_getlatd __attribute__((weak, alias("cb_default")));
+command_cb cb_getlongp __attribute__((weak, alias("cb_default")));
+command_cb cb_getlongi __attribute__((weak, alias("cb_default")));
+command_cb cb_getlongd __attribute__((weak, alias("cb_default")));
command_cb cb_getheightp __attribute__((weak, alias("cb_default")));
command_cb cb_getheighti __attribute__((weak, alias("cb_default")));
command_cb cb_getheightd __attribute__((weak, alias("cb_default")));
command_cb cb_getheight __attribute__((weak, alias("cb_default")));
-command_cb cb_getx __attribute__((weak, alias("cb_default")));
-command_cb cb_gety __attribute__((weak, alias("cb_default")));
-command_cb cb_getlon __attribute__((weak, alias("cb_default")));
command_cb cb_getlat __attribute__((weak, alias("cb_default")));
+command_cb cb_getlong __attribute__((weak, alias("cb_default")));
command_cb cb_getyaw __attribute__((weak, alias("cb_default")));
command_cb cb_getpitch __attribute__((weak, alias("cb_default")));
command_cb cb_getroll __attribute__((weak, alias("cb_default")));
@@ -148,20 +144,18 @@ command_cb cb_resprollrated __attribute__((weak, alias("cb_default")));
command_cb cb_resppitchratep __attribute__((weak, alias("cb_default")));
command_cb cb_resppitchratei __attribute__((weak, alias("cb_default")));
command_cb cb_resppitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_respxp __attribute__((weak, alias("cb_default")));
-command_cb cb_respxi __attribute__((weak, alias("cb_default")));
-command_cb cb_respxd __attribute__((weak, alias("cb_default")));
-command_cb cb_respyp __attribute__((weak, alias("cb_default")));
-command_cb cb_respyi __attribute__((weak, alias("cb_default")));
-command_cb cb_respyd __attribute__((weak, alias("cb_default")));
+command_cb cb_resplatp __attribute__((weak, alias("cb_default")));
+command_cb cb_resplati __attribute__((weak, alias("cb_default")));
+command_cb cb_resplatd __attribute__((weak, alias("cb_default")));
+command_cb cb_resplongp __attribute__((weak, alias("cb_default")));
+command_cb cb_resplongi __attribute__((weak, alias("cb_default")));
+command_cb cb_resplongd __attribute__((weak, alias("cb_default")));
command_cb cb_respheightp __attribute__((weak, alias("cb_default")));
command_cb cb_respheighti __attribute__((weak, alias("cb_default")));
command_cb cb_respheightd __attribute__((weak, alias("cb_default")));
command_cb cb_respheight __attribute__((weak, alias("cb_default")));
-command_cb cb_respx __attribute__((weak, alias("cb_default")));
-command_cb cb_respy __attribute__((weak, alias("cb_default")));
-command_cb cb_resplon __attribute__((weak, alias("cb_default")));
command_cb cb_resplat __attribute__((weak, alias("cb_default")));
+command_cb cb_resplong __attribute__((weak, alias("cb_default")));
command_cb cb_respyaw __attribute__((weak, alias("cb_default")));
command_cb cb_resppitch __attribute__((weak, alias("cb_default")));
command_cb cb_resproll __attribute__((weak, alias("cb_default")));
@@ -450,71 +444,71 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_setheightd
},
- // x p constant subtype
+ // lat p constant subtype
{
// ID
0x15,
// Command text
- "setxp",
+ "setlatp",
// Type of the command data
floatType,
// Function pointer
- &cb_setxp
+ &cb_setlatp
},
- // x i constant subtype
+ // lat i constant subtype
{
// ID
0x16,
// Command text
- "setxi",
+ "setlati",
// Type of the command data
floatType,
// Function pointer
- &cb_setxi
+ &cb_setlati
},
- // x d constant subtype
+ // lat d constant subtype
{
// ID
0x17,
// Command text
- "setxd",
+ "setlatd",
// Type of the command data
floatType,
// Function pointer
- &cb_setxd
+ &cb_setlatd
},
- // y p constant subtype
+ // long p constant subtype
{
// ID
0x18,
// Command text
- "setyp",
+ "setlongp",
// Type of the command data
floatType,
// Function pointer
- &cb_setyp
+ &cb_setlongp
},
- // y i constant subtype
+ // long i constant subtype
{
// ID
0x19,
// Command text
- "setyi",
+ "setlongi",
// Type of the command data
floatType,
// Function pointer
- &cb_setyi
+ &cb_setlongi
},
- // y d constant subtype
+ // long d constant subtype
{
// ID
0x1A,
// Command text
- "setyd",
+ "setlongd",
// Type of the command data
floatType,
// Function pointer
- &cb_setyd
+ &cb_setlongd
},
// height setpoint subtype
{
@@ -527,27 +521,27 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_setheight
},
- // x setpoint subtype
+ // lat setpoint subtype
{
// ID
0x1C,
// Command text
- "setx",
+ "setlat",
// Type of the command data
floatType,
// Function pointer
- &cb_setx
+ &cb_setlat
},
- // y setpoint subtype
+ // long setpoint subtype
{
// ID
0x1D,
// Command text
- "sety",
+ "setlong",
// Type of the command data
floatType,
// Function pointer
- &cb_sety
+ &cb_setlong
},
// yaw setpoint subtype
{
@@ -823,71 +817,71 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_getheightd
},
- // x p constant subtype
+ // lat p constant subtype
{
// ID
0x15,
// Command text
- "getxp",
+ "getlatp",
// Type of the command data
floatType,
// Function pointer
- &cb_getxp
+ &cb_getlatp
},
- // x i constant subtype
+ // lat i constant subtype
{
// ID
0x16,
// Command text
- "getxi",
+ "getlati",
// Type of the command data
floatType,
// Function pointer
- &cb_getxi
+ &cb_getlati
},
- // x d constant subtype
+ // lat d constant subtype
{
// ID
0x17,
// Command text
- "getxd",
+ "getlatd",
// Type of the command data
floatType,
// Function pointer
- &cb_getxd
+ &cb_getlatd
},
- // y p constant subtype
+ // long p constant subtype
{
// ID
0x18,
// Command text
- "getyp",
+ "getlongp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyp
+ &cb_getlongp
},
- // y i constant subtype
+ // long i constant subtype
{
// ID
0x19,
// Command text
- "getyi",
+ "getlongi",
// Type of the command data
floatType,
// Function pointer
- &cb_getyi
+ &cb_getlongi
},
- // y d constant subtype
+ // long d constant subtype
{
// ID
0x1A,
// Command text
- "getyd",
+ "getlongd",
// Type of the command data
floatType,
// Function pointer
- &cb_getyd
+ &cb_getlongd
},
// height setpoint subtype
{
@@ -900,27 +894,27 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_getheight
},
- // x getpoint subtype
+ // lat getpoint subtype
{
// ID
0x1C,
// Command text
- "getx",
+ "getlat",
// Type of the command data
floatType,
// Function pointer
- &cb_getx
+ &cb_getlat
},
- // y getpoint subtype
+ // long getpoint subtype
{
// ID
0x1D,
// Command text
- "gety",
+ "getlong",
// Type of the command data
floatType,
// Function pointer
- &cb_gety
+ &cb_getlong
},
// yaw getpoint subtype
{
@@ -1197,71 +1191,71 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_respheightd
},
- // x p constant subtype
+ // lat p constant subtype
{
// ID
0x15,
// Command text
- "respxp",
+ "resplatp",
// Type of the command data
floatType,
// Function pointer
- &cb_respxp
+ &cb_resplatp
},
- // x i constant subtype
+ // lat i constant subtype
{
// ID
0x16,
// Command text
- "respxi",
+ "resplati",
// Type of the command data
floatType,
// Function pointer
- &cb_respxi
+ &cb_resplati
},
- // x d constant subtype
+ // lat d constant subtype
{
// ID
0x17,
// Command text
- "respxd",
+ "resplatd",
// Type of the command data
floatType,
// Function pointer
- &cb_respxd
+ &cb_resplatd
},
- // y p constant subtype
+ // long p constant subtype
{
// ID
0x18,
// Command text
- "respyp",
+ "resplongp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyp
+ &cb_resplongp
},
- // y i constant subtype
+ // long i constant subtype
{
// ID
0x19,
// Command text
- "respyi",
+ "resplongi",
// Type of the command data
floatType,
// Function pointer
- &cb_respyi
+ &cb_resplongi
},
- // y d constant subtype
+ // long d constant subtype
{
// ID
0x1A,
// Command text
- "respyd",
+ "resplongd",
// Type of the command data
floatType,
// Function pointer
- &cb_respyd
+ &cb_resplongd
},
// height setpoint subtype
{
@@ -1274,27 +1268,27 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_respheight
},
- // x resppoint subtype
+ // lat resppoint subtype
{
// ID
0x1C,
// Command text
- "respx",
+ "resplat",
// Type of the command data
floatType,
// Function pointer
- &cb_respx
+ &cb_resplat
},
- // y resppoint subtype
+ // long resppoint subtype
{
// ID
0x1D,
// Command text
- "respy",
+ "resplong",
// Type of the command data
floatType,
// Function pointer
- &cb_respy
+ &cb_resplong
},
// yaw resppoint subtype
{
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 9f304dd4b..a81f93792 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -63,9 +63,6 @@ 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;
@@ -86,18 +83,15 @@ int cb_response(modular_structs_t *structs)
return 0;
}
-
-/* Callbacks for configuration (setters)*/
-
-int cb_setyawp(modular_structs_t *structs)
+int cb_setyaw(modular_structs_t *structs)
{
- structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyawi(modular_structs_t *structs)
+int cb_setyawp(modular_structs_t *structs)
{
- structs->parameter_struct.yaw_angle_pid.Ki = uart_buff_data_get_float(0);
+ structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
@@ -107,15 +101,15 @@ int cb_setyawd(modular_structs_t *structs)
return 0;
}
-int cb_setrollp(modular_structs_t *structs)
+int cb_setroll(modular_structs_t *structs)
{
- structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
return 0;
}
-int cb_setrolli(modular_structs_t *structs)
+int cb_setrollp(modular_structs_t *structs)
{
- structs->parameter_struct.roll_angle_pid.Ki = uart_buff_data_get_float(0);
+ structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
@@ -125,15 +119,15 @@ int cb_setrolld(modular_structs_t *structs)
return 0;
}
-int cb_setpitchp(modular_structs_t *structs)
+int cb_setpitch(modular_structs_t *structs)
{
- structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
return 0;
}
-int cb_setpitchi(modular_structs_t *structs)
+int cb_setpitchp(modular_structs_t *structs)
{
- structs->parameter_struct.pitch_angle_pid.Ki = uart_buff_data_get_float(0);
+ structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
@@ -143,93 +137,9 @@ int cb_setpitchd(modular_structs_t *structs)
return 0;
}
-int cb_setyawratep(modular_structs_t *structs)
-{
- 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)
+int cb_setheight(modular_structs_t *structs)
{
- structs->parameter_struct.local_y_pid.Kd = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
return 0;
}
@@ -247,244 +157,3 @@ 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;
-}
--
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