Expanded setpid to use all controller types

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);
 			}
 		}

groundStation/src/backend/commands.c

@@ -440,7 +440,6 @@ struct MessageType MessageTypes[MAX_TYPE] =
 				// Function pointer
 				&resprollangle
 			},
-
 			// resp yaw setpoint subtype
 			{
 				// ID

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;
 }
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