int main(int argc, char **argv) {
CCrazyRadio *crRadio = new CCrazyRadio("radio://0/10/250K");
if(crRadio->startRadio()) {
CCrazyflie *cflieCopter = new CCrazyflie(crRadio);
cflieCopter->setThrust(10001);
// Enable sending the setpoints. This can be used to temporarily
// stop updating the internal controller setpoints and instead
// sending dummy packets (to keep the connection alive).
cflieCopter->setSendSetpoints(true);
while(cflieCopter->cycle()) {
// Main loop. Currently empty.
/* Examples to set thrust, and RPY:
// Range: 10001 - (approx.) 60000
cflieCopter->setThrust(10001);
// All in degrees. R/P shouldn't be over 45 degree (it goes
// sidewards really fast!). R/P/Y are all from -180.0deg to 180.0deg.
cflieCopter->setRoll(20);
cflieCopter->setPitch(15);
cflieCopter->setYaw(140); */
// Important note: When quitting the program, please don't just
// SIGINT (i.e. CTRL-C) it. The CCrazyflie class instance
// cflieCopter must be deleted in order to call the destructor
// which stops logging on the device. If you fail to do this
// when quitting your program, your copter will experience some
// kind of buffer overflow (because of a lot of logging messages
// summing up without being collected) and you will have to
// restart it manually. This is not being done in this
// particular example. You have been warned.
// Other than that, this example covers pretty much everything
// basic you will need for controlling the copter.
cflieCopter->setRoll(0);
cflieCopter->setPitch(0);
cflieCopter->setYaw(0);
}
delete cflieCopter;
}
else {
cerr << "Could not connect to dongle. Did you plug it in?" << endl;
}
delete crRadio;
return 0;
}
int CCrazyRadio_startRadio(CCrazyRadioWrapped *cr)
{
CCrazyRadio *CCRadio = (CCrazyRadio *)cr;
if(CCRadio->startRadio()) return 1;
else return 0;
}
