doc:crazyflie:crtp:param
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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doc:crazyflie:crtp:param [2015-10-26 18:59] arnaud |
doc:crazyflie:crtp:param [2020-05-12 14:22] (current) kimberly |
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| + | <WRAP center round important 60%> | ||
| + | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// | ||
| + | </ | ||
| + | |||
| ====== Parameters ====== | ====== Parameters ====== | ||
| The parameters system makes all the gettable and settable parameters of the copter accessible. The copter holds a table of parameters which can be retrieved. In this table every parameter name is associated with an ID and a group name. Three IDs are used to acces the TOC and the parameters: | The parameters system makes all the gettable and settable parameters of the copter accessible. The copter holds a table of parameters which can be retrieved. In this table every parameter name is associated with an ID and a group name. Three IDs are used to acces the TOC and the parameters: | ||
| ^ Port ^ Channel | ^ Port ^ Channel | ||
| - | | 2 | + | | 2 |
| - | | 2 | + | | 2 |
| - | | 2 | + | | 2 |
| - | | 2 | + | | 2 |
| ===== TOC access ===== | ===== TOC access ===== | ||
| Line 33: | Line 37: | ||
| The CRC32 is a hash of the copter TOC. This is aimed at implementing caching of the TOC in the PC Utils to avoid fetching the full TOC each time the copter is connected. | The CRC32 is a hash of the copter TOC. This is aimed at implementing caching of the TOC in the PC Utils to avoid fetching the full TOC each time the copter is connected. | ||
| + | |||
| + | The type is one byte describing the parameter type: | ||
| + | |||
| + | ^ Type code ^ C type ^ Python unpack | | ||
| + | | 0x08 | uint8_t | '< | ||
| + | | 0x09 | uint16_t | '< | ||
| + | | 0x0A | uint32_t | '< | ||
| + | | 0x0B | uint64_t | '< | ||
| + | | 0x00 | int8_t | '< | ||
| + | | 0x01 | int16_t | '< | ||
| + | | 0x02 | int32_t | '< | ||
| + | | 0x03 | int64_t | '< | ||
| + | | 0x05 | FP16 | '' | ||
| + | | 0x06 | float | '< | ||
| + | | 0x07 | double | '< | ||
| ===== Parameter read ===== | ===== Parameter read ===== | ||
| Line 51: | Line 70: | ||
| The read request is a simple packet on channel 1. Crazyflie answers with the value. | The read request is a simple packet on channel 1. Crazyflie answers with the value. | ||
| - | ===== parameter | + | ===== Parameter |
| <WRAP group> | <WRAP group> | ||
| Line 74: | Line 93: | ||
| ^ Code ^ Command ^ | ^ Code ^ Command ^ | ||
| - | | 0x00 | Set by name | | + | | 0x00 |
| ==== Set by name ==== | ==== Set by name ==== | ||
| Line 96: | Line 115: | ||
| | n-(n+1) | | n-(n+1) | ||
| | (n+1)-(n+m+1) | | (n+1)-(n+m+1) | ||
| - | | | + | | (n+m+2) |
| - | | | + | | (n+m+3) |
| </ | </ | ||
| </ | </ | ||
doc/crazyflie/crtp/param.1445882355.txt.gz · Last modified: 2015-10-26 18:59 by arnaud
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