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====== Generic Setpoint CRTP Port ======

This port allows to send setpoints to the platform. The philosophy is to be able to define setpoint packet format for each different use-case. As such this is a generic port that has one channel and one main packet format:

^  Port  ^  Channel  ^ Name ^
|  7   |   0     | [[doc:crazyflie:crtp:generic_setpoint#generic_setpoint|Generic setpoint]] |

===== Generic setpoint =====

Generic setpoint packet format:
^  Byte  ^  Value  ^ Note ^
|   0    |  ID    | ID of the setpoint packet |
|   1..  |  Payload  | Format defined per ID |

Defined IDs:
^  ID  ^ Type  ^
|  0   | [[doc:crazyflie:crtp:generic_setpoint#stop|stop]]  |
|  1   | [[doc:crazyflie:crtp:generic_setpoint#velocity_world|Velocity World]] |
|  2   | [[doc:crazyflie:crtp:generic_setpoint#z_distance|Z Distance]] |
|  3   | [[doc:crazyflie:crtp:generic_setpoint#cppm_emulation|CPPM Emulation]] |
|  4   | [[doc:crazyflie:crtp:generic_setpoint#altitude_hold|Altitude Hold]] |
|  5   | [[doc:crazyflie:crtp:generic_setpoint#hover|Hover]] |
|  6   | [[doc:crazyflie:crtp:generic_setpoint#full_state|Full State]] |
|  7   | [[doc:crazyflie:crtp:generic_setpoint#position|Position]] |


==== Stop ====

This is a setpoint with no payload that stops the motors and disables the control loops. Should be sent when the Crazyflie is landed.

==== Velocity World ====

Velocity setpoint in the world coordinate together with a YAW rotation speed. Useful for a teleop mode in a local positioning system.

Payload format:
<code c>
struct velocityPacket_s {
  float vx;        // m in the world frame of reference
  float vy;        // ...
  float vz;        // ...
  float yawrate;  // deg/s
} __attribute__((packed));
</code>

==== Z Distance ====

Set the Crazyflie absolute height and roll/pitch angles. Used for Z-ranger.

Payload format:
<code c>
struct zDistancePacket_s {
  float roll;            // deg
  float pitch;           // ...
  float yawrate;         // deg/s
  float zDistance;        // m in the world frame of reference
} __attribute__((packed));
</code>

==== CPPM Emulation ====

CRTP packet containing an emulation of CPPM channels
Channels have a range of 1000-2000 with a midpoint of 1500
Supports the ordinary RPYT channels plus up to MAX_AUX_RC_CHANNELS auxiliary channels.
Auxiliary channels are optional and transmitters do not have to transmit all the data
unless a given channel is actually in use (numAuxChannels must be set accordingly)

Current aux channel assignments:
  * AuxChannel0: set high to enable self-leveling, low to disable

Payload format:
<code c>
#define MAX_AUX_RC_CHANNELS 10

static float s_CppmEmuRollMaxRateDps = 720.0f; // For rate mode
static float s_CppmEmuPitchMaxRateDps = 720.0f; // For rate mode
static float s_CppmEmuRollMaxAngleDeg = 50.0f; // For level mode
static float s_CppmEmuPitchMaxAngleDeg = 50.0f; // For level mode
static float s_CppmEmuYawMaxRateDps = 400.0f; // Used regardless of flight mode

struct cppmEmuPacket_s {
  struct {
      uint8_t numAuxChannels : 4;   // Set to 0 through MAX_AUX_RC_CHANNELS
      uint8_t reserved : 4;
  } hdr;
  uint16_t channelRoll;
  uint16_t channelPitch;
  uint16_t channelYaw;
  uint16_t channelThrust;
  uint16_t channelAux[MAX_AUX_RC_CHANNELS];
} __attribute__((packed));
</code>

==== Altitude Hold ====

Set the Crazyflie vertical velocity and roll/pitch angle.

Payload format:
<code c>
struct altHoldPacket_s {
  float roll;            // rad
  float pitch;           // ...
  float yawrate;         // deg/s
  float zVelocity;       // m/s in the world frame of reference
} __attribute__((packed));
</code>

==== Hover ====

Set the Crazyflie absolute height and velocity in the body coordinate system.

Payload format:
<code c>
struct hoverPacket_s {
  float vx;           // m/s in the body frame of reference
  float vy;           // ...
  float yawrate;      // deg/s
  float zDistance;    // m in the world frame of reference
} __attribute__((packed));
</code>

==== Full State ====

Set the full state.

Payload format:
<code c>
struct fullStatePacket_s {
  int16_t x;         // position - mm
  int16_t y;
  int16_t z;
  int16_t vx;        // velocity - mm / sec
  int16_t vy;
  int16_t vz;
  int16_t ax;        // acceleration - mm / sec^2
  int16_t ay;
  int16_t az;
  int32_t quat;      // compressed quaternion, see quatcompress.h
  int16_t rateRoll;  // angular velocity - milliradians / sec
  int16_t ratePitch; //  (NOTE: limits to about 5 full circles per sec.
  int16_t rateYaw;   //   may not be enough for extremely aggressive flight.)
} __attribute__((packed));
</code>

=== Position ===

Set the absolute postition and orientation.

<code c>
 struct positionPacket_s {
   float x;     // Position in m
   float y;
   float z;
   float yaw;   // Orientation in degree
 } __attribute__((packed));
</code>