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--- doc:crazyflie:crtp:generic_setpoint [2018-02-15 08:59]
arnaud
+++ doc:crazyflie:crtp:generic_setpoint [2019-09-05 15:09]
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_generic_setpoint/
+]]
+</WRAP>
 ====== Generic Setpoint CRTP Port ======
@@ Line 18: / Line 28: @@
 |  1   | [[doc:crazyflie:crtp:generic_setpoint#velocity_world|Velocity World]] |
 |  2   | [[doc:crazyflie:crtp:generic_setpoint#z_distance|Z Distance]] |
+|  3   | [[doc:crazyflie:crtp:generic_setpoint#cppm_emulation|CPPM Emulation]] |
+|  4   | [[doc:crazyflie:crtp:generic_setpoint#altitude_hold|Altitude Hold]] |
+|  5   | [[doc:crazyflie:crtp:generic_setpoint#hover|Hover]] |
+|  6   | [[doc:crazyflie:crtp:generic_setpoint#full_state|Full State]] |
+|  7   | [[doc:crazyflie:crtp:generic_setpoint#position|Position]] |
 ==== Stop ====
@@ Line 51: / Line 67: @@
 </code>
+==== CPPM Emulation ====
+CRTP packet containing an emulation of CPPM channels
+Channels have a range of 1000-2000 with a midpoint of 1500
+Supports the ordinary RPYT channels plus up to MAX_AUX_RC_CHANNELS auxiliary channels.
+Auxiliary channels are optional and transmitters do not have to transmit all the data
+unless a given channel is actually in use (numAuxChannels must be set accordingly)
+Current aux channel assignments:
+  * AuxChannel0: set high to enable self-leveling, low to disable
+Payload format:
+<code c>
+#define MAX_AUX_RC_CHANNELS 10
+static float s_CppmEmuRollMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuPitchMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuRollMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuPitchMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuYawMaxRateDps = 400.0f; // Used regardless of flight mode
+struct cppmEmuPacket_s {
+  struct {
+      uint8_t numAuxChannels : 4;   // Set to 0 through MAX_AUX_RC_CHANNELS
+      uint8_t reserved : 4;
+  } hdr;
+  uint16_t channelRoll;
+  uint16_t channelPitch;
+  uint16_t channelYaw;
+  uint16_t channelThrust;
+  uint16_t channelAux[MAX_AUX_RC_CHANNELS];
+} __attribute__((packed));
+</code>
+==== Altitude Hold ====
+Set the Crazyflie vertical velocity and roll/pitch angle.
+Payload format:
+<code c>
+struct altHoldPacket_s {
+  float roll;            // rad
+  float pitch;           // ...
+  float yawrate;         // deg/s
+  float zVelocity;       // m/s in the world frame of reference
+} __attribute__((packed));
+</code>
+==== Hover ====
+Set the Crazyflie absolute height and velocity in the body coordinate system.
+Payload format:
+<code c>
+struct hoverPacket_s {
+  float vx;           // m/s in the body frame of reference
+  float vy;           // ...
+  float yawrate;      // deg/s
+  float zDistance;    // m in the world frame of reference
+} __attribute__((packed));
+</code>
+==== Full State ====
+Set the full state.
+Payload format:
+<code c>
+struct fullStatePacket_s {
+  int16_t x;         // position - mm
+  int16_t y;
+  int16_t z;
+  int16_t vx;        // velocity - mm / sec
+  int16_t vy;
+  int16_t vz;
+  int16_t ax;        // acceleration - mm / sec^2
+  int16_t ay;
+  int16_t az;
+  int32_t quat;      // compressed quaternion, see quatcompress.h
+  int16_t rateRoll;  // angular velocity - milliradians / sec
+  int16_t ratePitch; //  (NOTE: limits to about 5 full circles per sec.
+  int16_t rateYaw;   //   may not be enough for extremely aggressive flight.)
+} __attribute__((packed));
+</code>
+=== Position ===
+Set the absolute postition and orientation.
+<code c>
+ struct positionPacket_s {
+   float x;     // Position in m
+   float y;
+   float z;
+   float yaw;   // Orientation in degree
+ } __attribute__((packed));
+</code>

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