Added new packet type to handle manual flight setpoints #1470
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src/modules/src/crtp_commander_generic.c:98
- [nitpick] Consider using a boolean type (e.g., bool) instead of char for the 'rate' field to more clearly indicate its purpose.
char rate; // True if roll/pitch in velocity mode
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Currently, there are no generic commander setpoints, meant for manual flight.
Also, the current way of choosing between Angle and Rate mode for roll and pitch is a bit legacy. More specifically, you have to change the parameters in crtp_commander_rpyt.py and re-flash the Crazyflie.
I added a new type of packet in the generic crtp commander, called manualType.
Depending on the
ratevariable, the manualType packet can switch the roll and pitch mode from Angle to Rate, regardless of the parameters set in crtp_commander_rpyt.py.This is based on Library issue #461 and Firmware issue #1388