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The commander port is used to send control set-points for the roll/pitch/yaw/thrust regulators in the Crazyflie. As soon as the communication link has been established these packets can be sent and the values are valid until the next packet is received.
+-------+-------+-------+-------+
| ROLL | PITCH | YAW |THRUST |
+-------+-------+-------+-------+
Length 4 4 4 2 bytes
| Name | Byte | Size | Type | Comment |
|---|---|---|---|---|
| ROLL | 0-3 | 4 | float | The pitch set-point |
| PITCH | 4-7 | 4 | float | The roll set-point |
| YAW | 8-11 | 4 | float | The yaw set-point |
| THRUST | 12-13 | 2 | uint16_t | The thrust set-point |