Accessing the commander port values
Posted: Wed Nov 07, 2018 12:48 pm
We are a group of electronics students trying to create our own on-board controller for the crazyflie.
By using CrazyflieDotNet we are able to send our own values to the copter using the commander port. We have found ways to access the motors and the gyro, implementing our own controller function in power_distribution_stock.c.
However we cannot figure out how to access the commander port values within the firmware.
We tried looking at CommanderRpytDecodeSetpoint in crtp_commander_rpyt.c, since it seem to create the struct we need, but can't seem to figure out how to use it.
The function seem to have existed in an old firmware verison, but i lost track of the exact forum post.
By using CrazyflieDotNet we are able to send our own values to the copter using the commander port. We have found ways to access the motors and the gyro, implementing our own controller function in power_distribution_stock.c.
However we cannot figure out how to access the commander port values within the firmware.
We tried looking at CommanderRpytDecodeSetpoint in crtp_commander_rpyt.c, since it seem to create the struct we need, but can't seem to figure out how to use it.
The function seem to have existed in an old firmware verison, but i lost track of the exact forum post.