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The commander port is used to send control set-points for the roll/pitch/yaw/thrust regulators in the Crazyflie. As soon as the communication link has been established these packets can be sent and the values are valid until the next packet is received.

        | ROLL  | PITCH |  YAW  |THRUST |
Length      4       4       4       2      bytes
Name Byte Size Type Comment
ROLL 0-3 4 float The pitch set-point
PITCH 4-7 4 float The roll set-point
YAW 8-11 4 float The yaw set-point
THRUST 12-13 2 uint16_t The thrust set-point
projects/crazyflie/crtp/commander.txt · Last modified: 2021-06-24 16:54 by kimberly