Merge branch 'attitude_rate_control'

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

@@ -52,7 +52,7 @@ bool controllerStudentTest(void)
  * 
  * @param angle 
  * @return float 
- */
+ *
 static float capAngle(float angle) {
   //TODO MICROCART: remove
   
@@ -68,6 +68,7 @@ static float capAngle(float angle) {
 
   return result;
 }
+*/
 
 /**
  * This function is called periodically to update the PID loop,
@@ -101,7 +102,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
       control->yaw = 0;
       return;
     }
-
+    
     //set desired roll and pitch and yaw angles
     attitudeDesired.roll = setpoint->attitude.roll;
     attitudeDesired.pitch = setpoint->attitude.pitch;
@@ -133,6 +134,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
       rateDesired.yaw = setpoint->attitudeRate.yaw;
       attitudeControllerResetYawAttitudePID();
     }
+    
 
     //update the attitude rate PID, given the current angular rate 
     //read by the gyro and the desired rate 

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

@@ -72,7 +72,6 @@ enum packet_type {
   fullStateType     = 6,
   positionType      = 7,
   attitudeRateType  = 8,
-
 };
 
 /* ---===== 2 - Decoding functions =====--- */