From a4474dc750145f4cfc7cb44c1aa794bab8e894ea Mon Sep 17 00:00:00 2001
From: Kris Burney <burneykb@iastate.edu>
Date: Mon, 28 Nov 2016 22:16:13 -0600
Subject: [PATCH] Expanded setpid to use all controller types
---
groundStation/src/backend/backend.c | 6 +++++-
groundStation/src/backend/commands.c | 1 -
groundStation/src/cli/cli_setpid.c | 19 +++++++++++++++----
3 files changed, 20 insertions(+), 6 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 15e08b2b8..f56b76698 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -671,12 +671,16 @@ static void client_recv(int fd) {
write(fd, buffer, strlen(buffer));
}
}
-
} else {
if(clientAddPendResponses(fd, packet) == -1) {
warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
} else {
int datalen = (packet[6] << 8) | (packet[5]);
+ printf("sending %lf '", getFloat(packet, 7));
+ for(int i = 0; i < datalen + 8; ++i) {
+ printf(" 0x%x", (signed) packet[i]);
+ }
+ printf("'\n");
writeQuad((char *) packet, datalen +8);
}
}
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 11e68405c..d1efa7e38 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -440,7 +440,6 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&resprollangle
},
-
// resp yaw setpoint subtype
{
// ID
diff --git a/groundStation/src/cli/cli_setpid.c b/groundStation/src/cli/cli_setpid.c
index 7347ab72d..b0ed03cf1 100644
--- a/groundStation/src/cli/cli_setpid.c
+++ b/groundStation/src/cli/cli_setpid.c
@@ -18,10 +18,10 @@ int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
{"roll", no_argument, &setRoll, 1},
{"pitch", no_argument, &setPitch, 1},
{"yaw", no_argument, &setYaw, 1},
- {"rollv", no_argument, &setYawV, 1},
- {"pitchv", no_argument, &setYawV, 1},
+ {"rollv", no_argument, &setRollV, 1},
+ {"pitchv", no_argument, &setPitchV, 1},
{"yawv", no_argument, &setYawV, 1},
- {"height", no_argument, &setHeight, 1},
+ {"height", no_argument, &setHeight, 1},
{"lat", no_argument, &setLat, 1},
{"long", no_argument, &setLong, 1},
{0, 0, 0, 0}
@@ -62,9 +62,20 @@ int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
pid_data.controller = PID_YAW;
} else if (setPitch) {
pid_data.controller = PID_PITCH;
+ } else if (setRollV) {
+ pid_data.controller = PID_ROLL_VELOCITY;
+ } else if (setPitchV) {
+ pid_data.controller = PID_PITCH_VELOCITY;
+ } else if (setYawV) {
+ pid_data.controller = PID_YAW_VELOCITY;
+ } else if (setHeight) {
+ pid_data.controller = PID_HEIGHT;
+ } else if (setLong) {
+ pid_data.controller = PID_LONG;
+ } else if (setLat) {
+ pid_data.controller = PID_LAT;
}
-
frontend_setpid(conn, &pid_data, mask);
return 0;
}
\ No newline at end of file
--
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