From 98c42cf953b37989462d8ffe0d6e8b5adfde1ba0 Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Mon, 21 Mar 2022 00:51:16 +0100
Subject: [PATCH] can now specify radio channel without building
---
crazyCART.sh | 9 ++++++-
.../src/crazyflieGroundStation.cpp | 25 ++++++++++++++++---
.../src/quadcopterData.cpp | 2 +-
3 files changed, 30 insertions(+), 6 deletions(-)
diff --git a/crazyCART.sh b/crazyCART.sh
index e6547e491..2c7a64b85 100755
--- a/crazyCART.sh
+++ b/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
diff --git a/crazyflie_groundstation/src/crazyflieGroundStation.cpp b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
index c3f2a930f..80d05ce35 100644
--- a/crazyflie_groundstation/src/crazyflieGroundStation.cpp
+++ b/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();
diff --git a/crazyflie_groundstation/src/quadcopterData.cpp b/crazyflie_groundstation/src/quadcopterData.cpp
index 658adbd30..50929e3db 100644
--- a/crazyflie_groundstation/src/quadcopterData.cpp
+++ b/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
--
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