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The commander port is used to send control set-points for the roll/pitch/yaw/thrust regulators from the host to 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.

Communication protocol

        | 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
doc/crazyflie/crtp/commander.txt · Last modified: 2020-05-12 14:17 by kimberly