doc:crazyflie:crtp:generic_setpoint
Differences
This shows you the differences between two versions of the page.
| Next revision | Previous revision Next revision Both sides next revision | ||
|
doc:crazyflie:crtp:generic_setpoint [2017-02-18 12:33] arnaud created |
doc:crazyflie:crtp:generic_setpoint [2018-02-15 09:23] arnaud |
||
|---|---|---|---|
| Line 4: | Line 4: | ||
| ^ 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: | ||
| ==== Stop ==== | ==== Stop ==== | ||
| Line 26: | Line 28: | ||
| 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 34: | ||
| 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)); | ||
| + | </ | ||
doc/crazyflie/crtp/generic_setpoint.txt · Last modified: 2020-05-12 14:19 by kimberly
Page Tools
Except where otherwise noted, content on this wiki is licensed under the following license: CC Attribution-Share Alike 4.0 International
