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--- projects:crazyflie:crtp [2013-04-02 15:41]
arnaud [Layers]
+++ projects:crazyflie:crtp [2017-04-01 21:29]
theseankelly [Port allocation]
@@ Line 44: / Line 44: @@
 |   3        |   [[projects:crazyflie:crtp:commander |Commander]]    | Sending control set-points for the roll/pitch/yaw/thrust regulators |
 |   5        |   [[projects:crazyflie:crtp:log#|Log]]    | Set up log blocks with variables that will be sent back to the Crazyflie at a specified period. Log variables are defined using a [[projects:crazyflie:firmware:log|macro in the Crazyflie source-code]] |
+|   7        |   [[projects:crazyflie:crtp:setpointgeneric | Setpoint Generic]] | For sending generic, extensible setpoints |
 |   14       |   [[projects:crazyflie:pc_utils:debugdriver|Client-side debugging]]    | Debugging the UI and exists only in the Crazyflie Python API and not in the Crazyflie itself.  |
 |   15       |   [[projects:crazyflie:crtp:linklayer |Link layer ]]   | Used to control and query the communication link |
@@ Line 89: / Line 90: @@
 |    Data   |    4-..  |         | The data in the packet |
 |   Cksum   |  4+size  |         | Checksum. Sum of all the bytes, excluding //Start//, modulo 256. |
+==== Example ====
+To send setpoints to the [[projects:crazyflie:crtp:commander|commander]] send:
+<code>
+xaa 0xaa 0x30 0x0e 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x3e
+</code>
+To ping Crazyflie:
+<code>
+ ->   0xaa 0xaa 0xf0 0x01 0x01 0xf2     # Sent to the copter
+ <-   0xaa 0xaa 0xf0 0x01 0x01 0xf2     # Received from the copter
+</code>

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