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This port allows to send setpoints to the platform. The philosophy is to be able to define setpoint packet format for each different use-case. As such this is a generic port that has one channel and one main packet format:
Port | Channel | Name |
---|---|---|
7 | 0 | Generic setpoint |
Generic setpoint packet format:
Byte | Value | Note |
---|---|---|
0 | ID | ID of the setpoint packet |
1.. | Payload | Format defined per ID |
Defined IDs:
ID | Type |
---|---|
0 | stop |
1 | Velocity World |
2 | Z Distance |
2 | Z Distance |
2 | Z Distance |
2 | Z Distance |
2 | Z Distance |
This is a setpoint with no payload that stops the motors and disables the control loops. Should be sent when the Crazyflie is landed.
Velocity setpoint in the world coordinate together with a YAW rotation speed. Useful for a teleop mode in a local positioning system.
Payload format:
struct velocityPacket_s { float vx; // m in the world frame of reference float vy; // ... float vz; // ... float yawrate; // deg/s } __attribute__((packed));
Set the Crazyflie absolute height and roll/pitch angles. Used for Z-ranger.
Payload format:
struct zDistancePacket_s { float roll; // deg float pitch; // ... float yawrate; // deg/s float zDistance; // m in the world frame of reference } __attribute__((packed));