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--- doc:crazyflie:crtp:generic_setpoint [2017-02-18 12:35]
arnaud
+++ doc:crazyflie:crtp:generic_setpoint [2018-02-15 09:23]
arnaud
@@ Line 17: / Line 17: @@
 |  0   | [[doc:crazyflie:crtp:generic_setpoint#stop|stop]]  |
 |  1   | [[doc:crazyflie:crtp:generic_setpoint#velocity_world|Velocity World]] |
+|  2   | [[doc:crazyflie:crtp:generic_setpoint#z_distance|Z Distance]] |
 ==== Stop ====
@@ Line 32: / Line 34: @@
   float vy;        // ...
   float vz;        // ...
-  float yawrate;  // rad/s
+  float yawrate;  // deg/s
 } __attribute__((packed));
 </code>
+==== 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;         // deg/s
+  float zDistance;        // m in the world frame of reference
+} __attribute__((packed));
+</code>

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