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doc:crazyflie:crtp:generic_setpoint [2017-02-18 12:33] arnaud created |
doc:crazyflie:crtp:generic_setpoint [2018-02-15 09:22] arnaud |
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^ Port ^ Channel | ^ Port ^ Channel | ||
- | | 7 | + | | 7 |
===== Generic setpoint ===== | ===== Generic setpoint ===== | ||
Generic setpoint packet format: | Generic setpoint packet format: | ||
- | ^ Byte ^ Value ^ Note ^ | + | ^ Byte ^ Value ^ Note ^ |
| | | | ||
- | | | + | | |
Defined IDs: | Defined IDs: | ||
^ ID ^ Type ^ | ^ ID ^ Type ^ | ||
- | | 0 | stop | | + | | 0 |
- | | 1 | Velocity World | | + | | 1 | [[doc: |
+ | | 2 | [[doc: | ||
+ | | 2 | [[doc: | ||
+ | | 2 | [[doc: | ||
+ | | 2 | [[doc: | ||
+ | | 2 | [[doc: | ||
==== Stop ==== | ==== Stop ==== | ||
Line 26: | Line 31: | ||
Velocity setpoint in the world coordinate together with a YAW rotation speed. Useful for a teleop mode in a local positioning system. | Velocity setpoint in the world coordinate together with a YAW rotation speed. Useful for a teleop mode in a local positioning system. | ||
- | Format: | + | Payload format: |
<code c> | <code c> | ||
struct velocityPacket_s { | struct velocityPacket_s { | ||
Line 32: | Line 37: | ||
float vy; // ... | float vy; // ... | ||
float vz; // ... | float vz; // ... | ||
- | float yawrate; | + | float yawrate; |
} __attribute__((packed)); | } __attribute__((packed)); | ||
</ | </ | ||
+ | ==== 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; | ||
+ | float zDistance; | ||
+ | } __attribute__((packed)); | ||
+ | </ | ||