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Commit e6691a05 authored by Jake Drahos's avatar Jake Drahos
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Merge branch 'update-commands' into temp-master

parents 9496284d f7385e59
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groundStation/src/backend/commands.c
+ 189
− 35
View file @ e6691a05
......@@ -44,29 +44,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Message Type ID
0x01,
// Calibration Subtypes
// Calibration Subtypes (PID coefficients)
{
// yaw setpoint subtype
// yaw p constant subtype
{
// ID
0x00,
// Command text
"setyaw",
"setyawp",
// Type of the command data
floatType,
// Function pointer
&setyaw
NULL
},
// yaw p constant subtype
// yaw i constant subtype
{
// ID
0x01,
// Command text
"setyawp",
"setyawi",
// Type of the command data
floatType,
// Function pointer
&setyawp
NULL
},
// yaw d constant subtype
{
......@@ -77,29 +77,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
&setyawd
NULL
},
// roll setpoint subtype
// roll p constant subtype
{
// ID
0x03,
// Command text
"setroll",
"setrollp",
// Type of the command data
floatType,
// Function pointer
&setroll
NULL
},
// roll p constant subtype
// roll i constant subtype
{
// ID
0x04,
// Command text
"setrollp",
"setrolli",
// Type of the command data
floatType,
// Function pointer
&setrollp
NULL
},
// roll d constant subtype
{
......@@ -110,29 +110,29 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
&setrolld
NULL
},
// pitch setpoint subtype
// pitch p constant subtype
{
// ID
0x06,
// Command text
"setpitch",
"setpitchp",
// Type of the command data
floatType,
// Function pointer
&setpitch
NULL
},
// pitch p constant subtype
// pitch i constant subtype
{
// ID
0x07,
// Command text
"setpitchp",
"setpitchi",
// Type of the command data
floatType,
// Function pointer
&setpitchp
NULL
},
// pitch d constant subtype
{
......@@ -143,51 +143,205 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
&setpitchd
NULL
},
// throttle setpoint subtype
// yawrate p constant subtype
{
// ID
0x09,
// Command text
"setthrottle",
"setyawratep",
// Type of the command data
floatType,
// Function pointer
&setthrottle
NULL
},
// throttle p constant subtype
// yawrate i constant subtype
{
// ID
0x0A,
// Command text
"setthrottlep",
"setyawratei",
// Type of the command data
floatType,
// Function pointer
&setthrottlep
NULL
},
// throttle i constant subtype
// yawrate d constant subtype
{
// ID
0x0B,
// Command text
"setthrottlei",
"setyawrated",
// Type of the command data
floatType,
// Function pointer
&setthrottlei
NULL
},
// throttle d constant subtype
// rollrate p constant subtype
{
// ID
0x0C,
// Command text
"setthrottled",
"setrollratep",
// Type of the command data
floatType,
// Function pointer
&getthrottled
NULL
},
// rollrate i constant subtype
{
// ID
0x0D,
// Command text
"setrollratei",
// Type of the command data
floatType,
// Function pointer
NULL
},
// rollrate d constant subtype
{
// ID
0x0E,
// Command text
"setrollrated",
// Type of the command data
floatType,
// Function pointer
NULL
},
// pitchrate p constant subtype
{
// ID
0x0F,
// Command text
"setpitchratep",
// Type of the command data
floatType,
// Function pointer
NULL
},
// pitchrate i constant subtype
{
// ID
0x10,
// Command text
"setpitchratei",
// Type of the command data
floatType,
// Function pointer
NULL
},
// pitchrate d constant subtype
{
// ID
0x11,
// Command text
"setpitchrated",
// Type of the command data
floatType,
// Function pointer
NULL
},
// height p constant subtype
{
// ID
0x12,
// Command text
"setheightp",
// Type of the command data
floatType,
// Function pointer
NULL
},
// height i constant subtype
{
// ID
0x13,
// Command text
"setheighti",
// Type of the command data
floatType,
// Function pointer
NULL
},
// height d constant subtype
{
// ID
0x14,
// Command text
"setheightd",
// Type of the command data
floatType,
// Function pointer
NULL
},
// lat p constant subtype
{
// ID
0x15,
// Command text
"setlatp",
// Type of the command data
floatType,
// Function pointer
NULL
},
// lat i constant subtype
{
// ID
0x16,
// Command text
"setlati",
// Type of the command data
floatType,
// Function pointer
NULL
},
// lat d constant subtype
{
// ID
0x17,
// Command text
"setlatd",
// Type of the command data
floatType,
// Function pointer
NULL
},
// long p constant subtype
{
// ID
0x18,
// Command text
"setlongp",
// Type of the command data
floatType,
// Function pointer
NULL
},
// long i constant subtype
{
// ID
0x19,
// Command text
"setlongi",
// Type of the command data
floatType,
// Function pointer
NULL
},
// long d constant subtype
{
// ID
0x1A,
// Command text
"setlongd",
// Type of the command data
floatType,
// Function pointer
NULL
}
}
},
......@@ -993,4 +1147,4 @@ int respthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs
}
int respthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
\ No newline at end of file
}
groundStation/src/backend/communication.c
+ 8
− 4
View file @ e6691a05
......@@ -256,12 +256,16 @@ int processCommand(unsigned char *packet, modular_structs_t *structs) {
}
if(metadata.data_len >= 0) {
// Call the appropriate subtype function
(* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
/* Null check*/
if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
(unsigned char) metadata.msg_subtype].functionPtr) {
// Call the appropriate subtype function
(* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
}
return 0;
}
// Only gets here if there is an error
return -1;
}
\ No newline at end of file
}
groundStation/src/cli/cli_setpid.c
+ 6
− 6
View file @ e6691a05
......@@ -63,19 +63,19 @@ int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
} else if (setPitch) {
pid_data.controller = PID_PITCH;
} else if (setRollV) {
pid_data.controller = PID_ROLL_VELOCITY;
pid_data.controller = PID_ROLL_RATE;
} else if (setPitchV) {
pid_data.controller = PID_PITCH_VELOCITY;
pid_data.controller = PID_PITCH_RATE;
} else if (setYawV) {
pid_data.controller = PID_YAW_VELOCITY;
pid_data.controller = PID_YAW_RATE;
} else if (setHeight) {
pid_data.controller = PID_HEIGHT;
} else if (setLong) {
pid_data.controller = PID_LONG;
} else if (setLat) {
pid_data.controller = PID_LAT;
} else if (setLat) {
pid_data.controller = PID_LONG;
}
frontend_setpid(conn, &pid_data, mask);
return 0;
}
\ No newline at end of file
}
groundStation/src/frontend/frontend_setpid.c
+ 18
− 1
View file @ e6691a05
......@@ -25,7 +25,24 @@ int frontend_setpid(
case PID_YAW:
controller = "yaw";
break;
/* What is the "throttle" pid constant? */
case PID_PITCH_RATE:
controller = "pitchrate";
break;
case PID_ROLL_RATE:
controller = "rollrate";
break;
case PID_YAW_RATE:
controller = "yawrate";
break;
case PID_HEIGHT:
controller = "height";
break;
case PID_LAT:
controller = "lat";
break;
case PID_LONG:
controller = "long";
break;
default:
warnx("Unsupported PID constant");
return -1;
......
groundStation/src/frontend/pid_common.h
+ 3
− 3
View file @ e6691a05
......@@ -5,9 +5,9 @@ enum pid_controller {
PID_PITCH,
PID_ROLL,
PID_YAW,
PID_PITCH_VELOCITY,
PID_ROLL_VELOCITY,
PID_YAW_VELOCITY,
PID_PITCH_RATE,
PID_ROLL_RATE,
PID_YAW_RATE,
PID_HEIGHT, /* Z */
PID_LAT, /* X */
PID_LONG, /* Y */
......
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