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#113: Started reorganizing commander architecture
The commander is now accepting setpoint structure with a priority information: the function that pushes a setpoint with the highest priority will set the actual setpoint. Moved current Roll Pitch Yaw Thrust CRTP setpoint to its own file in preparation for the new 'type' CRTP setpoint.
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Original file line number | Diff line number | Diff line change |
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/** | ||
* || ____ _ __ ______ | ||
* +------+ / __ )(_) /_/ ____/_________ _____ ___ | ||
* | 0xBC | / __ / / __/ / / ___/ __ `/_ / / _ \ | ||
* +------+ / /_/ / / /_/ /___ / / / /_/ / / /_/ __/ | ||
* || || /_____/_/\__/\____//_/ \__,_/ /___/\___/ | ||
* | ||
* Crazyflie control firmware | ||
* | ||
* Copyright (C) 2011-2012 Bitcraze AB | ||
* | ||
* This program is free software: you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation, in version 3. | ||
* | ||
* This program is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
* | ||
*/ | ||
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||
#ifndef CRTP_COMMANDER_H_ | ||
#define CRTP_COMMANDER_H_ | ||
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#include <stdint.h> | ||
#include "stabilizer_types.h" | ||
#include "crtp.h" | ||
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#define CRTP_CONTROLLER_LEGACY_CH 0 | ||
#define CRTP_CONTROLLER_TYPE_CH 1 | ||
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void crtpCommanderInit(void); | ||
void crtpCommanderRpytDecodeSetpoint(setpoint_t *setpoint, CRTPPacket *pk); | ||
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#endif /* CRTP_COMMANDER_H_ */ |
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