broadcaster goTo: allow absolute coordinates

whoenig · Dec 2, 2024 · 1b0e21c · 1b0e21c
1 parent ca2bd07
commit 1b0e21c
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/include/crazyflie_cpp/Crazyflie.h b/include/crazyflie_cpp/Crazyflie.h
@@ -776,8 +776,8 @@ class CrazyflieBroadcaster
 
   void stop(uint8_t groupMask = 0);
 
-  // This is always in relative coordinates
-  void goTo(float x, float y, float z, float yaw, float duration, uint8_t groupMask = 0);
+  // using relative = false only makes sense for rare cases such as formation control
+  void goTo(float x, float y, float z, float yaw, float duration, bool relative = true, uint8_t groupMask = 0);
 
   // This is always in relative coordinates
   void startTrajectory(

diff --git a/src/Crazyflie.cpp b/src/Crazyflie.cpp
@@ -1246,10 +1246,9 @@ void CrazyflieBroadcaster::stop(uint8_t groupMask)
   m_connection.send(req);
 }
 
-// This is always in relative coordinates
-void CrazyflieBroadcaster::goTo(float x, float y, float z, float yaw, float duration, uint8_t groupMask)
+void CrazyflieBroadcaster::goTo(float x, float y, float z, float yaw, float duration, bool relative, uint8_t groupMask)
 {
-  crtpCommanderHighLevelGoToRequest req(groupMask, true, x, y, z, yaw, duration);
+  crtpCommanderHighLevelGoToRequest req(groupMask, relative, x, y, z, yaw, duration);
   m_connection.send(req);
 }