packet sent from drone to crazyradio PA

Firmware/software/electronics
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giandoman
Member
Posts: 37
Joined: Wed Sep 27, 2017 1:23 pm

packet sent from drone to crazyradio PA

Post by giandoman »

Hello, i have a question.
All the "send____" functions defined in commander.py are organized in a pack according to the protocol discussed here https://wiki.bitcraze.io/doc:crazyflie:crtp:index. Am i right?
I would like to know where, in the firmware is implemented the receiving part and the ack.
Thanks
arnaud
Bitcraze
Posts: 2538
Joined: Tue Feb 06, 2007 12:36 pm

Re: packet sent from drone to crazyradio PA

Post by arnaud »

It is correct that all packet sent to the Crazyflie are sent as CRTP packets to a port/channel. In the Crazyflie packet are routed to the right submodule depending of their port.

The packets sent by commander.py are received by crtp_commander.c and interpreted by crtp_commander_rpyt.c and crtp_commander_generic.c.
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