add sendArmingRequest

whoenig · May 16, 2024 · 9d6d724 · 9d6d724
1 parent 3677e57
commit 9d6d724
Show file tree

Hide file tree

Showing 4 changed files with 32 additions and 0 deletions.
diff --git a/include/crazyflie_cpp/Crazyflie.h b/include/crazyflie_cpp/Crazyflie.h
@@ -158,6 +158,9 @@ class Crazyflie
  std::string getFirmwareVersion();
 
  std::string getDeviceTypeName();
+
+ void sendArmingRequest(bool arm);
+
  void logReset();
 
  void sendSetpoint(
@@ -764,6 +767,8 @@ class CrazyflieBroadcaster
  return m_connection.statisticsDelta();
  }
 
+ void sendArmingRequest(bool arm);
+
  // High-Level setpoints
  void takeoff(float height, float duration, uint8_t groupMask = 0);
 

diff --git a/include/crazyflie_cpp/crtp.h b/include/crazyflie_cpp/crtp.h
@@ -1008,6 +1008,13 @@ struct crtpGetDeviceTypeNameResponse
  static std::string name(const bitcraze::crazyflieLinkCpp::Packet &p);
 };
 
+class crtpArmingRequest
+ : public bitcraze::crazyflieLinkCpp::Packet
+{
+public:
+ crtpArmingRequest(bool arm);
+};
+
 // Port 15 (Link)
 class crtpLatencyMeasurementRequest
  : public bitcraze::crazyflieLinkCpp::Packet

diff --git a/src/Crazyflie.cpp b/src/Crazyflie.cpp
@@ -108,6 +108,12 @@ std::string Crazyflie::getDeviceTypeName()
  return res::name(p);
 }
 
+void Crazyflie::sendArmingRequest(bool arm)
+{
+ crtpArmingRequest req(arm);
+ m_connection.send(req);
+}
+
 void Crazyflie::logReset()
 {
  crtpLogResetRequest request;
@@ -1215,6 +1221,13 @@ CrazyflieBroadcaster::CrazyflieBroadcaster(
  : m_connection(link_uri)
 {
 }
+
+void CrazyflieBroadcaster::sendArmingRequest(bool arm)
+{
+ crtpArmingRequest req(arm);
+ m_connection.send(req);
+}
+
 void CrazyflieBroadcaster::takeoff(float height, float duration, uint8_t groupMask)
 {
  crtpCommanderHighLevelTakeoffRequest req(groupMask, height, duration);

diff --git a/src/crtp.cpp b/src/crtp.cpp
@@ -293,6 +293,13 @@ std::string crtpGetDeviceTypeNameResponse::name(const bitcraze::crazyflieLinkCpp
  return p.payloadAtString(1);
 }
 
+crtpArmingRequest::crtpArmingRequest(bool arm)
+ : Packet(13, 0, 2)
+{
+ setPayloadAt<uint8_t>(0, 1);
+ setPayloadAt<uint8_t>(1, arm);
+}
+
 #if 0
 crtpFullStateSetpointRequest::crtpFullStateSetpointRequest(
  float x, float y, float z,