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Commit 64f0201b authored by dawehr's avatar dawehr
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Undoing accidental commits to commands.c and quad callbacks.c.

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groundStation/src/backend/commands.c
+ 93
− 99
View file @ 64f0201b
......@@ -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
{
......
quad/sw/modular_quad_pid/src/callbacks.c
+ 14
− 345
View file @ 64f0201b
......@@ -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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