add sendArmingRequest

Author: whoenig

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);
 

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

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);

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,