diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 19cbc568ce37c4a663dfd667d8aaec7db3f55e02..766e3c38915e22b8bf4a041d2b0fda443f8eaf51 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -65,12 +65,12 @@ int cb_update(modular_structs_t *structs)
}
// This is called on the ground station to begin sending VRPN to the quad
-int beginupdate(modular_structs_t *structs) {
+int cb_beginupdate(modular_structs_t *structs) {
structs->user_input_struct.receivedBeginUpdate = 1;
return 0;
}
-int logdata(modular_structs_t *structs)
+int cb_log(modular_structs_t *structs)
{
size_t length;
unsigned char *packet = uart_buff_get_raw(&length);
@@ -78,7 +78,7 @@ int logdata(modular_structs_t *structs)
return 0;
}
-int response(modular_structs_t *structs)
+int cb_response(modular_structs_t *structs)
{
size_t length;
char *packet = uart_buff_get_raw(&length);
@@ -86,256 +86,77 @@ int response(modular_structs_t *structs)
return 0;
}
-// ------------------------------------------------------------------
-// Quad side implementation
-
-// TODO: Erase memory leaks
-
-int yawset(modular_structs_t *structs)
+int cb_setyaw(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
-
- // Debug print statement
- //printf("function for yawset: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.yaw);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int yawp(modular_structs_t *structs)
+int cb_setyawp(modular_structs_t *structs)
{
- char buf[255] = {0};
-
structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
-
- printf("function for yawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set yaw Kp to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kp);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int yawd(modular_structs_t *structs)
+int cb_setyawd(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.yaw_angle_pid.Kd = uart_buff_data_get_float(0);
-
- printf("function for yawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set yaw Kd to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kd);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int rollset(modular_structs_t *structs)
+int cb_setroll(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
-
- printf("function for rollset: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set desired roll to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.roll);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int rollp(modular_structs_t *structs)
+int cb_setrollp(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
-
- printf("function for rollp: %f\n", structs->parameter_struct.roll_angle_pid.Kp);
-
- // Send a reply to the ground station
- size_t length = snprintf(buf, sizeof(buf), "Successfully set roll Kp to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kp);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
-
return 0;
}
-int rolld(modular_structs_t *structs)
+int cb_setrolld(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.roll_angle_pid.Kd = uart_buff_data_get_float(0);
-
- printf("function for rolld: %f\n", structs->parameter_struct.roll_angle_pid.Kd);
-
- // Send a reply to the ground station
- size_t length = snprintf(buf, sizeof(buf), "Successfully set roll Kd to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kd);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int pitchset(modular_structs_t *structs)
+int cb_setpitch(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
-
- printf("function for pitchset: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set desired pitch to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.pitch);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int pitchp(modular_structs_t *structs)
+int cb_setpitchp(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
-
- printf("function for pitchp: %f\n", structs->parameter_struct.pitch_angle_pid.Kp);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set pitch Kp to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kp);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int pitchd(modular_structs_t *structs)
+int cb_setpitchd(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.pitch_angle_pid.Kd = uart_buff_data_get_float(0);
-
- printf("function for pitchd: %f\n", structs->parameter_struct.pitch_angle_pid.Kd);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kd);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-// ------------------------------------------------------------
-// These should be renamed to altitude!
-int throttleset(modular_structs_t *structs)
+int cb_setheight(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
-
- printf("function for throttleset: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set desired altitude to %.2f meters\r\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
-int throttlep(modular_structs_t *structs)
+int cb_setheightp(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.alt_pid.Kp = uart_buff_data_get_float(0);
-
- printf("function for throttlep: %f\n", structs->parameter_struct.alt_pid.Kp);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set alt Kp to %.2f\r\n", structs->parameter_struct.alt_pid.Kp);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
- return 0;
}
-int throttlei(modular_structs_t *structs)
+int cb_setheighti(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.alt_pid.Ki = uart_buff_data_get_float(0);
-
- printf("function for throttlei: %f\n", structs->parameter_struct.alt_pid.Ki);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set alt Ki to %.2f\r\n", structs->parameter_struct.alt_pid.Ki);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
- return 0;
}
-int throttled(modular_structs_t *structs)
+int cb_setheightd(modular_structs_t *structs)
{
- char buf[255] = {};
-
structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
-
- printf("function for throttled: %f\n", structs->parameter_struct.alt_pid.Kd);
-
- // Send a reply to the ground station
- int length = snprintf(buf, sizeof(buf), "Successfully set alt Kd to %.2f\r\n", structs->parameter_struct.alt_pid.Kd);
-
- send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
- return 0;
-}
-// These should be renamed to altitude!
-// ------------------------------------------------------------
-
-int accelreq(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int gyroresp(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int pitchangleresp(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int rollangleresp(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int gyroreq(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int pitchanglereq(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int rollanglereq(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
-}
-
-int accelresp(modular_structs_t *structs)
-{
- printf("function for accelreq\n");
- return 0;
}
diff --git a/quad/sw/modular_quad_pid/src/callbacks.h b/quad/sw/modular_quad_pid/src/callbacks.h
index 1afa1b659aded1a54827554c02f22fa8d52cddc6..6b6dee02a2e6020df1e0ee47a44c724a044cf1c0 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.h
+++ b/quad/sw/modular_quad_pid/src/callbacks.h
@@ -5,6 +5,6 @@
#include "type_def.h"
/* Make commands.c happy */
-typedef void (command_cb)(modular_structs_t *structs);
+typedef int (command_cb)(modular_structs_t *structs);
#endif