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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

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.