can now specify radio channel without building

crazyCART.sh

@@ -9,7 +9,14 @@ function handler()
 
 cd ./crazyflie_groundstation
 #xterm -hold -e './crazyflieGroundStation' &
-./crazyflieGroundStation &
+if [ $# -gt 0 ]
+then
+    echo "custom radio"
+    ./crazyflieGroundStation $1 &
+else
+    echo "default radio"
+    ./crazyflieGroundStation &
+fi
 CFPID=$!
 echo "Waiting for crazyflie groundstation to be created..."
 cf_gs=crazyflie_groundstation.socket

crazyflie_groundstation/src/crazyflieGroundStation.cpp

@@ -92,8 +92,8 @@ pthread_t threads[3+NUM_RADIOS];
 
 #define PI 3.14159265
 
-int main(int argc, char **argv) {
-	sleep(1); //***FOR TESTING PURPOSES*** (REMOVE)
+int main(int argc, char** argv) {
+	//sleep(1); //***FOR TESTING PURPOSES*** (REMOVE)
 
 	signal(SIGINT, &ctrlc_handler);
 
@@ -145,17 +145,34 @@ int main(int argc, char **argv) {
 		cout << "Initializing Crazyflie " << i+1 << endl;
 
 		// Init the radio
-		radios[crazyflie_info[i].radioNumber].radio->setChannel( crazyflie_info[i].channelNumber );
+		if(argc == 2 && i == 0) {
+			uint8_t channelNum = (uint8_t) std::strtol(argv[1], (char**) NULL, 10);
+			radios[crazyflie_info[i].radioNumber].radio->setChannel( channelNum );
+		}
+		else {
+			radios[crazyflie_info[i].radioNumber].radio->setChannel( crazyflie_info[i].channelNumber );
+		}
+		
 
 		// Clear the packets on the network destined for this quadcopter
 		network->clearNetworkQueue(i);
 
 		// Create the crazyflie object
-		crazyflie_info[i].cflieCopter = new CCrazyflie(radios[crazyflie_info[i].radioNumber].radio,
+		if(argc == 2 && i == 0) {
+			uint8_t channelNo = (uint8_t) std::strtol(argv[1], (char**) NULL, 10);
+			crazyflie_info[i].cflieCopter = new CCrazyflie(radios[crazyflie_info[i].radioNumber].radio,
+		 											   channelNo,
+		 											   crazyflie_info[i].dataRate,
+		 											   i,
+		 											   startTime);
+		}
+		else {
+			crazyflie_info[i].cflieCopter = new CCrazyflie(radios[crazyflie_info[i].radioNumber].radio,
 		 											   crazyflie_info[i].channelNumber,
 		 											   crazyflie_info[i].dataRate,
 		 											   i,
 		 											   startTime);
+		}
 		crazyflie_info[i].cflieCopter->setNetworkForwarding(network);
 		crazyflie_info[i].initTime = crazyflie_info[i].cflieCopter->currentTime();
 

crazyflie_groundstation/src/quadcopterData.cpp

@@ -231,7 +231,7 @@ QUADCOPTERS_t crazyflie_info[] = {
 	{"Crazyflie22",			// Trackable name
 	 NULL,					// VRPN tracker object (initialized in VRPNinit)
 	 NULL,					// CrazyFlie copter object (initialized in main)
-	 65,					// The channel number of the crazyflie
+	 85,					// The channel number of the crazyflie
 	 0,						// The radio to use
 	 XFER_2M,				// The datarate of the Crazyflie
 	 0,						// The init time