#536 ability to enable high-level commands after low-level commands

[jpreiss]

Extensive discussion of the code design is in #536. This code is tested on real hardware. Confirmed that we can:

• Take off in high-level mode
• Fly using streaming setpoints (I tested velocity_world and full_state)
• Re-enable high-level mode
• Immediately land or do a goTo

I was not able to test manual override because I was not sure how. However, based on the design I am confident it will work.

[krichardsson]

Hi and thanks for the pull request!

It looks good to me , but I have two small comments.

1. There are a bit too many DEBUG_PRINT for my taste. DEBUG_PRINT always outputs a message on the console log and I think we should keep logging during "normal" operation to a minimum, and only notify the user of exceptional events. One option is to define your local log macro, something like https://github.com/bitcraze/crazyflie-firmware/blob/master/src/deck/core/deck_info.c#L39-L43
2. I prefer named constants in the decoding of the packet, to make it easier to understand what the purpose of the channel is. (I will try to add review comments for this in the code, I have not used this feature before in github :-))

br
Kristoffer

[krichardsson]

Named constants makes it easier to understand what the cases are handling. Maybe something like

switch (pk->channel) {
  case SET_SETPOINT_CHANNEL:
    // ...
    break;
  case META_COMMAND_CHANNEL:
    // ...
    break;
  default:
    // Do nothing
    break;
}

and a default for completeness.

[jpreiss]

@krichardsson Thank you for the review! I added the channel enum and got rid of the DEBUG_PRINTs.

Following the style of crtp_commander_generic.c, I also added comments in crtp_commander.c with a numbered "to-do" list for adding a new command, and changed the comments from // to /* */ style.

[krichardsson]

Merged. Thanks!