- added some comments in commands.c/h about usage of the file
- added a MAX_CONTROLLER_ID and MAX_CONTROL_VAL_ID to the enums in commands.h
- implemented cb_set_control in callbacks.c to work with the new parameter struct
- changes the parameter_struct to now contain an array of pid_controllers instead of a bunch of random PID_t members
- the new parameter_struct array can now be accessed by controller ID as defined in commands.h

added the datatype parameter back into MessageType struct in commands.h because Jake actually does need it.

Conflicts:
	groundStation/src/backend/commands.c
	quad/sw/modular_quad_pid/src/callbacks.c
	quad/sw/modular_quad_pid/src/initialize_components.c

- removed the "ID", datatype parameters from MessateType struct in commands.h
- made equivalent changes in commands.c

- removed every use of the "subtype" term
- made the "type" term 16 bits
- made sure that every reference to a message type is 16 bits and used correctly
- simplified commands enum names
- implemented setcontrol callback function that switch on the controller and P, I, D, setpoint value to be set and then set them
- partly implemented getcontrol callback function
- NOTE: setpoint is a double. this causes some problems..
- TODO: add setpoints for rate controllers
- TODO: figure out what message ID I should send back when I get a getpid command

- Added a comment saying that we may not need the ID parameter on the MessageType Struct anymore.
- Removed calls of the nature: "MessageTypes[TYPE_ID].ID" and replaced them with "TYPE_ID" because it is the same thing..
- Added function comments in callbacks.c
- Simplified the callbacks.c by having a more generic setval, getval, respval callback function instead of a billion of them for each PID value.

also added some more comments in both files

there is now no such thing as a message sub type. There is only a message type.
this simplifies the commands struct greatly.
the commands.c file was aprox 1400 lines and now it is about 150...

jpbush authored 8 years ago and dawehr committed 8 years ago

also reorganized the ordering of the commands in commands.c
added a enum for message types and subtype but this will get removed on the next commit

There are still more changes needed to have full functionality

latitude functions are now y, and longitude functions are now x instead. 
I also recognize that setting an actual lat, lon set point in the future may be useful so I have retained those functions.

It now works on the quadcopter. Messages weren't being processed in protection loop before

- The regression test let to a refactor for the circ buffer

currently one test is failing

Fixed issue with printf() hanging. Removed all printfs(). Don't use them!
Fixed issue with mismatched checksums not getting consumed

Ready to test the responses from quad->backend.
Then create the correct response from backend->frontend and print nicely

Callbacks seem to be working now. Response packet is not sending correctly?