first commit

groundStation/src/cli/cli_setpid.h

-#ifndef _CLI_SETPID_H
-#define _CLI_SETPID_H
+#ifndef CLI_SETPID_H
+#define CLI_SETPID_H
 
 #include "frontend_setpid.h"
 

groundStation/src/cli/cli_setsetpoint.c

+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_setsetpoint.h"
+// #include "frontend_setpid.h"
+
+int cli_set(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	struct frontend_pid_data pid_data;
+	static int needHelp = 0;
+	static struct option long_options[] = {
+ 		/* These options don’t set a flag. We distinguish them by their indices. */
+ 		{"help",	no_argument,	&needHelp,	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+	}
+
+	if (needHelp) {
+		printf("Setsetpoint sets the x, y , or z set point values for the quad.\n");
+		printf("Usage Syntax : \n\t./Cli setsetpoint [options...]\n");
+		printf("Symlink Usage Syntax : \n\t./setsetpoint [options...]\n\n");
+		printf("Available options include the following\n");
+		printf("\t[-x] 'val' : Sets the x setpoint value to 'val'\n");
+		printf("\t[-z] 'val' : Sets the y setpoint value to 'val'\n");
+		printf("\t[-z] 'val' : Sets the z setpoint value to 'val'\n");
+		return 0;
+	}
+
+	if (argc < 2) {
+		printf("Incorrect Usage, run './cli setpid --help' for correct usage.\n");
+		return 1;
+	}
+
+	if (setRoll) {
+		pid_data.controller = PID_ROLL;
+	} else if (setYaw) {
+		pid_data.controller = PID_YAW;
+	} else if (setPitch) {
+		pid_data.controller = PID_PITCH;
+	} else if (setRollV) {
+		pid_data.controller = PID_ROLL_RATE;
+	} else if (setPitchV) {
+		pid_data.controller = PID_PITCH_RATE;
+	} else if (setYawV) {
+		pid_data.controller = PID_YAW_RATE;
+	} else if (setHeight) {
+		pid_data.controller = PID_HEIGHT;
+	} else if (setLong) {
+		pid_data.controller = PID_LAT;
+	} else if (setLat) {
+		pid_data.controller = PID_LONG;
+	}
+
+	frontend_setpid(conn, &pid_data, mask);
+	return 0;
+}

groundStation/src/cli/cli_setsetpoint.h

+#ifndef CLI_SETSETPOINT_H
+#define CLI_SETSETPOINT_H
+
+// #include "frontend_setpid.h"
+
+int cli_setsetpoint(struct backend_conn * conn, int argc, char ** argv);
+
+#endif