Merge branch 'groundstation-gui-roughEdits' of...

Merge branch 'groundstation-gui-roughEdits' of git.ece.iastate.edu:danc/MicroCART into groundstation-gui-roughEdits

crazyCART.sh

@@ -5,10 +5,11 @@ function handler()
     kill -s SIGINT $CFPID
     kill -s SIGINT $APID
     kill -s SIGINT $BPID
+    kill -9 $GPID
 }
 
 cd ./crazyflie_groundstation
-#xterm -hold -e './crazyflieGroundStation' &
+
 if [ $# -gt 0 ]
 then
     echo "custom radio"
@@ -18,21 +19,47 @@ else
     ./crazyflieGroundStation &
 fi
 CFPID=$!
+
 echo "Waiting for crazyflie groundstation to be created..."
 cf_gs=crazyflie_groundstation.socket
 while [ ! -S "$cf_gs"  ]
 do
     sleep 1
 done
+
 cd ../groundStation/adapters/crazyflie
 sleep 1
 ./bin/cf_adapter &
 APID=$!
+
 sleep 1
 cd ../..
 ./BackEnd &
 BPID=$!
 
+# if [ ! ps -p $CFPID -gt /dev/null || ! ps -p $APID -gt /dev/null || ! ps -p $BPID -gt /dev/null ]
+# then
+#     echo "enter if"
+#     if [ ps -p $CFPID -gt /dev/null ]
+#     then
+#         kill -s SIGINT $CFPID
+#     fi
+
+#     if [ ps -p $APID -gt /dev/null ]
+#     then
+#         kill -s SIGINT $APID
+#     fi
+
+#     if [ ps -p $BPID -gt /dev/null ]
+#     then
+#         kill -s SIGINT $CFPID
+#     fi
+#     exit
+# fi
+
+./GroundStation &
+GPID=$!
+
 trap handler INT
 
 wait
\ No newline at end of file

crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/crtp_commander_generic.c

@@ -73,6 +73,7 @@ enum packet_type {
   positionType      = 7,
   attitudeRateType  = 8,
   attitudeType      = 9,
+  mixedAttitudeType = 10,
 };
 
 /* ---===== 2 - Decoding functions =====--- */
@@ -431,6 +432,39 @@ static void attitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data
   setpoint->thrust = values->thrust;
 }
 
+
+/*
+ * Custom mixed Attitude decoder, bypasses the normal attitude control path,
+ * packet contains the roll and pitch as attitude angles and the 
+ * yaw as an attitude rate in addition to the thrust value
+ */
+struct mixedAttitudePacket_s{
+  float rollAngle;        // deg
+  float pitchAngle;       // deg
+  float yawAngleRate;     // deg/s
+  float thrust;           // thrust percentage 0 - 60,000 
+} __attribute__((packed));
+static void mixedAttitudeDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen){
+  
+  const struct mixedAttitudePacket_s *values = data;
+
+  ASSERT(datalen == sizeof(struct mixedAttitudePacket_s));
+
+  setpoint->mode.x = modeDisable;
+  setpoint->mode.y = modeDisable;
+  setpoint->mode.z = modeDisable;
+
+  setpoint->mode.roll = modeAbs;
+  setpoint->mode.pitch = modeAbs;
+  setpoint->mode.yaw = modeVelocity;
+  
+  setpoint->attitude.roll = values->rollAngle;
+  setpoint->attitude.pitch = values->pitchAngle;
+  setpoint->attitudeRate.yaw = values->yawAngleRate;
+  
+  setpoint->thrust = values->thrust;
+}
+
  /* ---===== 3 - packetDecoders array =====--- */
 const static packetDecoder_t packetDecoders[] = {
   [stopType]          = stopDecoder,
@@ -443,6 +477,7 @@ const static packetDecoder_t packetDecoders[] = {
   [positionType]      = positionDecoder,
   [attitudeRateType]  = attitudeRateDecoder,
   [attitudeType]      = attitudeDecoder,
+  [mixedAttitudeType] = mixedAttitudeDecoder,
 };
 
 /* Decoder switch */

groundStation/gui/MicroCART/.gitignore

+#MicroCART GUI executable
+MicroCART
+
 # C++ objects and libs
 *.slo
 *.lo