Crazyflie Class Reference

#include <Crazyflie.h>

Classes
struct	batchRequest
struct	logInfo
struct	LogTocEntry
struct	MemoryTocEntry
struct	paramInfo
struct	ParamTocEntry
union	ParamValue
struct	poly4d

Public Types
enum	BootloaderTarget { TargetSTM32 = 0xFF, TargetNRF51 = 0xFE }
enum	LogType {   LogTypeUint8 = 1, LogTypeUint16 = 2, LogTypeUint32 = 3, LogTypeInt8 = 4,   LogTypeInt16 = 5, LogTypeInt32 = 6, LogTypeFloat = 7, LogTypeFP16 = 8 }
enum	MemoryType {   MemoryTypeEEPROM = 0x00, MemoryTypeOneWire = 0x01, MemoryTypeLED12 = 0x10, MemoryTypeLOCO = 0x11,   MemoryTypeTRAJ = 0x12, MemoryTypeLOCO2 = 0x13, MemoryTypeLH = 0x14, MemoryTypeTester = 0x15,   MemoryTypeUSD = 0x16 }
enum	ParamType {   ParamTypeUint8 = 0x00 | (0x00<<2) | (0x01<<3), ParamTypeInt8 = 0x00 | (0x00<<2) | (0x00<<3), ParamTypeUint16 = 0x01 | (0x00<<2) | (0x01<<3), ParamTypeInt16 = 0x01 | (0x00<<2) | (0x00<<3),   ParamTypeUint32 = 0x02 | (0x00<<2) | (0x01<<3), ParamTypeInt32 = 0x02 | (0x00<<2) | (0x00<<3), ParamTypeFloat = 0x02 | (0x01<<2) | (0x00<<3) }

Public Member Functions
struct Crazyflie::poly4d	__attribute__ ((packed))
template<class T >
void	addSetParam (uint16_t id, const T &value)
void	alloff ()
	Crazyflie (const std::string &link_uri, Logger &logger=EmptyLogger, std::function< void(const char *)> consoleCb=nullptr)
void	emergencyStop ()
void	emergencyStopWatchdog ()
std::string	getDeviceTypeName ()
std::string	getFirmwareVersion ()
template<class T >
T	getParam (uint16_t id) const
const ParamTocEntry *	getParamTocEntry (const std::string &group, const std::string &name) const
int	getProtocolVersion ()
void	goTo (float x, float y, float z, float yaw, float duration, bool relative=false, uint8_t groupMask=0)
void	land (float height, float duration, uint8_t groupMask=0)
void	logReset ()
std::vector< LogTocEntry >::const_iterator	logVariablesBegin () const
std::vector< LogTocEntry >::const_iterator	logVariablesEnd () const
std::vector< MemoryTocEntry >::const_iterator	memoriesBegin () const
std::vector< MemoryTocEntry >::const_iterator	memoriesEnd () const
void	notifySetpointsStop (uint32_t remainValidMillisecs)
std::vector< ParamTocEntry >::const_iterator	paramsBegin () const
std::vector< ParamTocEntry >::const_iterator	paramsEnd () const
void	queueOutgoingPacket (const crtpPacket_t &packet)
void	readFlash (BootloaderTarget target, size_t size, std::vector< uint8_t > &data)
void	readUSDLogFile (std::vector< uint8_t > &data)
void	reboot ()
void	rebootFromBootloader ()
uint64_t	rebootToBootloader ()
void	requestLogToc (bool forceNoCache=false)
void	requestMemoryToc ()
void	requestParamToc (bool forceNoCache=false)
void	sendExternalPoseUpdate (float x, float y, float z, float qx, float qy, float qz, float qw)
void	sendExternalPositionUpdate (float x, float y, float z)
void	sendFullStateSetpoint (float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, float qx, float qy, float qz, float qw, float rollRate, float pitchRate, float yawRate)
void	sendHoverSetpoint (float vx, float vy, float yawrate, float zDistance)
void	sendPing ()
void	sendPositionSetpoint (float x, float y, float z, float yaw)
void	sendSetpoint (float roll, float pitch, float yawrate, uint16_t thrust)
void	sendStop ()
void	sendVelocityWorldSetpoint (float x, float y, float z, float yawRate)
void	setConsoleCallback (std::function< void(const char *)> cb)
void	setEmptyAckCallback (std::function< void(const crtpPlatformRSSIAck *)> cb)
void	setGenericPacketCallback (std::function< void(const ITransport::Ack &)> cb)
void	setGroupMask (uint8_t groupMask)
void	setLinkQualityCallback (std::function< void(float)> cb)
template<class T >
void	setParam (uint16_t id, const T &value)
template<class T >
void	setParamByName (const char *group, const char *name, const T &value)
void	setRequestedParams ()
void	startSetParamRequest ()
void	startTrajectory (uint8_t trajectoryId, float timescale=1.0, bool reversed=false, bool relative=true, uint8_t groupMask=0)
void	stop (uint8_t groupMask=0)
void	sysoff ()
void	syson ()
void	takeoff (float height, float duration, uint8_t groupMask=0)
void	transmitPackets ()
void	uploadTrajectory (uint8_t trajectoryId, uint32_t pieceOffset, const std::vector< poly4d > &pieces)
float	vbat ()
void	writeFlash (BootloaderTarget target, const std::vector< uint8_t > &data)

Static Public Member Functions
static size_t	size (LogType t)

Private Member Functions
template<typename R >
void	addRequest (const R &request, size_t numBytesToMatch)
void	addRequestInternal (const uint8_t *data, size_t numBytes, size_t numBytesToMatch)
void	addSetParam (uint16_t id, const ParamValue &value)
const LogTocEntry *	getLogTocEntry (const std::string &group, const std::string &name) const
const ParamValue &	getParam (uint16_t id) const
template<typename R >
const R *	getRequestResult (size_t index) const
void	handleAck (const ITransport::Ack &result)
void	handleBatchAck (const ITransport::Ack &result, bool crtpMode)
void	handleRequests (bool crtpMode=true, bool useSafeLink=ENABLE_SAFELINK, float baseTime=2.0, float timePerRequest=0.2)
uint8_t	registerLogBlock (std::function< void(crtpLogDataResponse *, uint8_t)> cb)
template<typename R >
void	sendPacket (const R &request, ITransport::Ack &result, bool useSafeLink=ENABLE_SAFELINK)
template<typename R >
void	sendPacket (const R &request, bool useSafeLink=ENABLE_SAFELINK)
void	sendPacketInternal (const uint8_t *data, uint32_t length, ITransport::Ack &result, bool useSafeLink=ENABLE_SAFELINK)
bool	sendPacketInternal (const uint8_t *data, uint32_t length, bool useSafeLink=ENABLE_SAFELINK)
template<typename R >
void	sendPacketOrTimeout (const R &request, bool useSafeLink=ENABLE_SAFELINK)
void	sendPacketOrTimeoutInternal (const uint8_t *data, uint32_t length, bool useSafeLink=ENABLE_SAFELINK, float timeout=1.0)
void	setParam (uint16_t id, const ParamValue &value)
void	startBatchRequest ()
bool	unregisterLogBlock (uint8_t id)

Private Attributes
struct Crazyflie::logInfo	__attribute__
uint64_t	m_address
std::vector< batchRequest >	m_batchRequests
uint8_t	m_channel
std::function< void(const char *)>	m_consoleCallback
int	m_curr_down
int	m_curr_up
Crazyradio::Datarate	m_datarate
int	m_devId
std::function< void(const crtpPlatformRSSIAck *)>	m_emptyAckCallback
std::function< void(const ITransport::Ack &)>	m_genericPacketCallback
std::function< void(float)>	m_linkQualityCallback
bool	m_log_use_V2
std::map< uint8_t, std::function< void(crtpLogDataResponse *, uint8_t)> >	m_logBlockCb
Logger &	m_logger
std::vector< LogTocEntry >	m_logTocEntries
std::vector< MemoryTocEntry >	m_memoryTocEntries
size_t	m_numRequestsEnqueued
size_t	m_numRequestsFinished
std::vector< crtpPacket_t >	m_outgoing_packets
bool	m_param_use_V2
std::vector< ParamTocEntry >	m_paramTocEntries
std::map< uint16_t, ParamValue >	m_paramValues
int	m_protocolVersion
Crazyradio *	m_radio
ITransport *	m_transport

Friends
template<typename T >
class	LogBlock
class	LogBlockGeneric

Detailed Description

Definition at line 30 of file Crazyflie.h.

Member Enumeration Documentation

enum Crazyflie::BootloaderTarget

Enumerator
TargetSTM32
TargetNRF51

Definition at line 84 of file Crazyflie.h.

enum Crazyflie::LogType

Enumerator
LogTypeUint8
LogTypeUint16
LogTypeUint32
LogTypeInt8
LogTypeInt16
LogTypeInt32
LogTypeFloat
LogTypeFP16

Definition at line 66 of file Crazyflie.h.

enum Crazyflie::MemoryType

Enumerator
MemoryTypeEEPROM
MemoryTypeOneWire
MemoryTypeLED12
MemoryTypeLOCO
MemoryTypeTRAJ
MemoryTypeLOCO2
MemoryTypeLH
MemoryTypeTester
MemoryTypeUSD

Definition at line 89 of file Crazyflie.h.

enum Crazyflie::ParamType

Enumerator
ParamTypeUint8
ParamTypeInt8
ParamTypeUint16
ParamTypeInt16
ParamTypeUint32
ParamTypeInt32
ParamTypeFloat

Definition at line 33 of file Crazyflie.h.

Constructor & Destructor Documentation

Crazyflie::Crazyflie	(	const std::string &	link_uri,
		Logger &	logger = EmptyLogger,
		std::function< void(const char *)>	consoleCb = nullptr
	)

Definition at line 32 of file Crazyflie.cpp.

Member Function Documentation

struct Crazyflie::poly4d Crazyflie::__attribute__

(

(packed)

)

template<typename R >

void Crazyflie::addRequest ( const R &  request, size_t  numBytesToMatch  )

inlineprivate

Definition at line 415 of file Crazyflie.h.

void Crazyflie::addRequestInternal ( const uint8_t *  data, size_t  numBytes, size_t  numBytesToMatch  )

private

Definition at line 1255 of file Crazyflie.cpp.

template<class T >

void Crazyflie::addSetParam ( uint16_t  id, const T &  value  )

inline

Definition at line 257 of file Crazyflie.h.

void Crazyflie::addSetParam ( uint16_t  id, const ParamValue &  value  )

private

Definition at line 894 of file Crazyflie.cpp.

void Crazyflie::alloff

(

)

Definition at line 345 of file Crazyflie.cpp.

void Crazyflie::emergencyStop

(

)

Definition at line 185 of file Crazyflie.cpp.

void Crazyflie::emergencyStopWatchdog

(

)

Definition at line 191 of file Crazyflie.cpp.

std::string Crazyflie::getDeviceTypeName

(

)

Definition at line 152 of file Crazyflie.cpp.

std::string Crazyflie::getFirmwareVersion

(

)

Definition at line 143 of file Crazyflie.cpp.

const Crazyflie::LogTocEntry * Crazyflie::getLogTocEntry ( const std::string &  group, const std::string &  name  ) const

private

Definition at line 1205 of file Crazyflie.cpp.

template<class T >

T Crazyflie::getParam ( uint16_t  id ) const

inline

Definition at line 267 of file Crazyflie.h.

const ParamValue& Crazyflie::getParam ( uint16_t  id ) const

inlineprivate

Definition at line 492 of file Crazyflie.h.

const Crazyflie::ParamTocEntry * Crazyflie::getParamTocEntry	(	const std::string &	group,
		const std::string &	name
	)		const

Definition at line 1217 of file Crazyflie.cpp.

int Crazyflie::getProtocolVersion

(

)

Definition at line 134 of file Crazyflie.cpp.

template<typename R >

const R* Crazyflie::getRequestResult ( size_t  index ) const

inlineprivate

Definition at line 435 of file Crazyflie.h.

void Crazyflie::goTo	(	float	x,
		float	y,
		float	z,
		float	yaw,
		float	duration,
		bool	relative = false,
		uint8_t	groupMask = 0
	)

Definition at line 1429 of file Crazyflie.cpp.

void Crazyflie::handleAck ( const ITransport::Ack &  result )

private

Definition at line 1107 of file Crazyflie.cpp.

void Crazyflie::handleBatchAck ( const ITransport::Ack &  result, bool  crtpMode  )

private

Definition at line 1370 of file Crazyflie.cpp.

void Crazyflie::handleRequests ( bool  crtpMode = true, bool  useSafeLink = ENABLE_SAFELINK, float  baseTime = 2.0, float  timePerRequest = 0.2  )

private

Definition at line 1267 of file Crazyflie.cpp.

void Crazyflie::land	(	float	height,
		float	duration,
		uint8_t	groupMask = 0
	)

Definition at line 1417 of file Crazyflie.cpp.

void Crazyflie::logReset

(

)

Definition at line 161 of file Crazyflie.cpp.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesBegin ( ) const

inline

Definition at line 206 of file Crazyflie.h.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesEnd ( ) const

inline

Definition at line 209 of file Crazyflie.h.

std::vector<MemoryTocEntry>::const_iterator Crazyflie::memoriesBegin ( ) const

inline

Definition at line 213 of file Crazyflie.h.

std::vector<MemoryTocEntry>::const_iterator Crazyflie::memoriesEnd ( ) const

inline

Definition at line 216 of file Crazyflie.h.

void Crazyflie::notifySetpointsStop

(

uint32_t

remainValidMillisecs

)

Definition at line 241 of file Crazyflie.cpp.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsBegin ( ) const

inline

Definition at line 199 of file Crazyflie.h.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsEnd ( ) const

inline

Definition at line 202 of file Crazyflie.h.

void Crazyflie::queueOutgoingPacket ( const crtpPacket_t &  packet )

inline

En-queues a generic crtpPacket into a vector so that it can be transmitted later.

Parameters

packet

the crtpPacket to be en-queued.

Definition at line 323 of file Crazyflie.h.

void Crazyflie::readFlash	(	BootloaderTarget	target,
		size_t	size,
		std::vector< uint8_t > &	data
	)

Definition at line 522 of file Crazyflie.cpp.

void Crazyflie::readUSDLogFile

(

std::vector< uint8_t > &

data

)

Definition at line 1478 of file Crazyflie.cpp.

void Crazyflie::reboot

(

)

Definition at line 287 of file Crazyflie.cpp.

void Crazyflie::rebootFromBootloader

(

)

Definition at line 329 of file Crazyflie.cpp.

uint64_t Crazyflie::rebootToBootloader

(

)

Definition at line 298 of file Crazyflie.cpp.

uint8_t Crazyflie::registerLogBlock ( std::function< void(crtpLogDataResponse *, uint8_t)>  cb )

private

Definition at line 1229 of file Crazyflie.cpp.

void Crazyflie::requestLogToc

(

bool

forceNoCache = false

)

Definition at line 586 of file Crazyflie.cpp.

void Crazyflie::requestMemoryToc

(

)

Definition at line 857 of file Crazyflie.cpp.

void Crazyflie::requestParamToc

(

bool

forceNoCache = false

)

Definition at line 696 of file Crazyflie.cpp.

void Crazyflie::sendExternalPoseUpdate	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Definition at line 256 of file Crazyflie.cpp.

void Crazyflie::sendExternalPositionUpdate	(	float	x,
		float	y,
		float	z
	)

Definition at line 247 of file Crazyflie.cpp.

void Crazyflie::sendFullStateSetpoint	(	float	x,
		float	y,
		float	z,
		float	vx,
		float	vy,
		float	vz,
		float	ax,
		float	ay,
		float	az,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	rollRate,
		float	pitchRate,
		float	yawRate
	)

Definition at line 217 of file Crazyflie.cpp.

void Crazyflie::sendHoverSetpoint	(	float	vx,
		float	vy,
		float	yawrate,
		float	zDistance
	)

Definition at line 207 of file Crazyflie.cpp.

template<typename R >

void Crazyflie::sendPacket ( const R &  request, ITransport::Ack &  result, bool  useSafeLink = ENABLE_SAFELINK  )

inlineprivate

Definition at line 364 of file Crazyflie.h.

template<typename R >

void Crazyflie::sendPacket ( const R &  request, bool  useSafeLink = ENABLE_SAFELINK  )

inlineprivate

Definition at line 379 of file Crazyflie.h.

void Crazyflie::sendPacketInternal ( const uint8_t *  data, uint32_t  length, ITransport::Ack &  result, bool  useSafeLink = ENABLE_SAFELINK  )

private

Definition at line 1041 of file Crazyflie.cpp.

bool Crazyflie::sendPacketInternal ( const uint8_t *  data, uint32_t  length, bool  useSafeLink = ENABLE_SAFELINK  )

private

Definition at line 1015 of file Crazyflie.cpp.

template<typename R >

void Crazyflie::sendPacketOrTimeout ( const R &  request, bool  useSafeLink = ENABLE_SAFELINK  )

inlineprivate

Definition at line 394 of file Crazyflie.h.

void Crazyflie::sendPacketOrTimeoutInternal ( const uint8_t *  data, uint32_t  length, bool  useSafeLink = ENABLE_SAFELINK, float  timeout = 1.0  )

private

Definition at line 1025 of file Crazyflie.cpp.

void Crazyflie::sendPing

(

)

Definition at line 264 of file Crazyflie.cpp.

void Crazyflie::sendPositionSetpoint	(	float	x,
		float	y,
		float	z,
		float	yaw
	)

Definition at line 197 of file Crazyflie.cpp.

void Crazyflie::sendSetpoint	(	float	roll,
		float	pitch,
		float	yawrate,
		uint16_t	thrust
	)

Definition at line 169 of file Crazyflie.cpp.

void Crazyflie::sendStop

(

)

Definition at line 179 of file Crazyflie.cpp.

void Crazyflie::sendVelocityWorldSetpoint	(	float	x,
		float	y,
		float	z,
		float	yawRate
	)

Definition at line 233 of file Crazyflie.cpp.

void Crazyflie::setConsoleCallback ( std::function< void(const char *)>  cb )

inline

Definition at line 286 of file Crazyflie.h.

void Crazyflie::setEmptyAckCallback ( std::function< void(const crtpPlatformRSSIAck *)>  cb )

inline

Definition at line 276 of file Crazyflie.h.

void Crazyflie::setGenericPacketCallback ( std::function< void(const ITransport::Ack &)>  cb )

inline

Definition at line 314 of file Crazyflie.h.

void Crazyflie::setGroupMask

(

uint8_t

groupMask

)

Definition at line 1403 of file Crazyflie.cpp.

void Crazyflie::setLinkQualityCallback ( std::function< void(float)>  cb )

inline

Definition at line 281 of file Crazyflie.h.

template<class T >

void Crazyflie::setParam ( uint16_t  id, const T &  value  )

inline

Definition at line 221 of file Crazyflie.h.

void Crazyflie::setParam ( uint16_t  id, const ParamValue &  value  )

private

Definition at line 1008 of file Crazyflie.cpp.

template<class T >

void Crazyflie::setParamByName ( const char *  group, const char *  name, const T &  value  )

inline

Definition at line 228 of file Crazyflie.h.

void Crazyflie::setRequestedParams

(

)

Definition at line 1003 of file Crazyflie.cpp.

static size_t Crazyflie::size ( LogType  t )

inlinestatic

Definition at line 291 of file Crazyflie.h.

void Crazyflie::startBatchRequest ( )

private

Definition at line 1250 of file Crazyflie.cpp.

void Crazyflie::startSetParamRequest

(

)

Definition at line 889 of file Crazyflie.cpp.

void Crazyflie::startTrajectory	(	uint8_t	trajectoryId,
		float	timescale = 1.0,
		bool	reversed = false,
		bool	relative = true,
		uint8_t	groupMask = 0
	)

Definition at line 1467 of file Crazyflie.cpp.

void Crazyflie::stop

(

uint8_t

groupMask = 0

)

Definition at line 1423 of file Crazyflie.cpp.

void Crazyflie::sysoff

(

)

Definition at line 337 of file Crazyflie.cpp.

void Crazyflie::syson

(

)

Definition at line 353 of file Crazyflie.cpp.

void Crazyflie::takeoff	(	float	height,
		float	duration,
		uint8_t	groupMask = 0
	)

Definition at line 1411 of file Crazyflie.cpp.

void Crazyflie::transmitPackets

(

)

Transmits any outgoing packets to the crazyflie.

Definition at line 273 of file Crazyflie.cpp.

bool Crazyflie::unregisterLogBlock ( uint8_t  id )

private

Definition at line 1241 of file Crazyflie.cpp.

void Crazyflie::uploadTrajectory	(	uint8_t	trajectoryId,
		uint32_t	pieceOffset,
		const std::vector< poly4d > &	pieces
	)

Definition at line 1435 of file Crazyflie.cpp.

float Crazyflie::vbat

(

)

Definition at line 361 of file Crazyflie.cpp.

void Crazyflie::writeFlash	(	BootloaderTarget	target,
		const std::vector< uint8_t > &	data
	)

Definition at line 374 of file Crazyflie.cpp.

Friends And Related Function Documentation

template<typename T >

friend class LogBlock

friend

Definition at line 519 of file Crazyflie.h.

friend class LogBlockGeneric

friend

Definition at line 520 of file Crazyflie.h.

Member Data Documentation

struct Crazyflie::logInfo Crazyflie::__attribute__

private

uint64_t Crazyflie::m_address

private

Definition at line 502 of file Crazyflie.h.

std::vector<batchRequest> Crazyflie::m_batchRequests

private

Definition at line 530 of file Crazyflie.h.

uint8_t Crazyflie::m_channel

private

Definition at line 501 of file Crazyflie.h.

std::function<void(const char*)> Crazyflie::m_consoleCallback

private

Definition at line 515 of file Crazyflie.h.

int Crazyflie::m_curr_down

private

Definition at line 535 of file Crazyflie.h.

int Crazyflie::m_curr_up

private

Definition at line 534 of file Crazyflie.h.

Crazyradio::Datarate Crazyflie::m_datarate

private

Definition at line 503 of file Crazyflie.h.

int Crazyflie::m_devId

private

Definition at line 499 of file Crazyflie.h.

std::function<void(const crtpPlatformRSSIAck*)> Crazyflie::m_emptyAckCallback

private

Definition at line 513 of file Crazyflie.h.

std::function<void(const ITransport::Ack&)> Crazyflie::m_genericPacketCallback

private

Definition at line 516 of file Crazyflie.h.

std::function<void(float)> Crazyflie::m_linkQualityCallback

private

Definition at line 514 of file Crazyflie.h.

bool Crazyflie::m_log_use_V2

private

Definition at line 537 of file Crazyflie.h.

std::map<uint8_t, std::function<void(crtpLogDataResponse*, uint8_t)> > Crazyflie::m_logBlockCb

private

Definition at line 506 of file Crazyflie.h.

Logger& Crazyflie::m_logger

private

Definition at line 543 of file Crazyflie.h.

std::vector<LogTocEntry> Crazyflie::m_logTocEntries

private

Definition at line 505 of file Crazyflie.h.

std::vector<MemoryTocEntry> Crazyflie::m_memoryTocEntries

private

Definition at line 511 of file Crazyflie.h.

size_t Crazyflie::m_numRequestsEnqueued

private

Definition at line 532 of file Crazyflie.h.

size_t Crazyflie::m_numRequestsFinished

private

Definition at line 531 of file Crazyflie.h.

std::vector<crtpPacket_t> Crazyflie::m_outgoing_packets

private

Definition at line 405 of file Crazyflie.h.

bool Crazyflie::m_param_use_V2

private

Definition at line 538 of file Crazyflie.h.

std::vector<ParamTocEntry> Crazyflie::m_paramTocEntries

private

Definition at line 508 of file Crazyflie.h.

std::map<uint16_t, ParamValue> Crazyflie::m_paramValues

private

Definition at line 509 of file Crazyflie.h.

int Crazyflie::m_protocolVersion

private

Definition at line 540 of file Crazyflie.h.

Crazyradio* Crazyflie::m_radio

private

Definition at line 497 of file Crazyflie.h.

ITransport* Crazyflie::m_transport

private

Definition at line 498 of file Crazyflie.h.

---

The documentation for this class was generated from the following files:

• Crazyflie.h
• Crazyflie.cpp