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:

Generic setpoint packet format:

Defined IDs:

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));