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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 ===== | ||
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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 ===== | ||
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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> | ||
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^ 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) |
</ | </ | ||
</ | </ |