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--- doc:crazyflie:crtp:commander [2014-11-25 15:42]
macke created
+++ doc:crazyflie:crtp:commander [2019-09-05 15:06]
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page is deprecated and is moved to the main Bitcraze website. Please go to:
+ [[
+https://www.bitcraze.io/docs/crazyflie-firmware/master/ctrp_commander/
+]]
+</WRAP>
+</WRAP>
+====== Commander ======
+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 ======
+<code>
+        +-------+-------+-------+-------+
+        | ROLL  | PITCH |  YAW  |THRUST |
+        +-------+-------+-------+-------+
+Length      4       4       4       2      bytes
+</code>
+^ 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 |

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