From 616ec0b56d9e4a8c2a019da073a70fb19de74b91 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Thu, 27 Jul 2023 07:51:25 +0200
Subject: [PATCH 1/2] Add proper broadcast version check to support Crazyradio
 2.0 broadcasting

Tested with ./example_broadcast
---
 src/CrazyradioThread.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/CrazyradioThread.cpp b/src/CrazyradioThread.cpp
index b6b1036..dbd7212 100644
--- a/src/CrazyradioThread.cpp
+++ b/src/CrazyradioThread.cpp
@@ -119,7 +119,9 @@ void CrazyradioThread::run()
 {
     Crazyradio radio(dev_);
     const auto version = radio.version();
-    bool supports_broadcasts = version.second >= 0x55;
+    bool supports_broadcasts = 
+           (version.first == 0x99 && version.second >= 0x55) // Crazyradio PA with latest official firmware
+        || (version.first == 3 && version.second >= 2); // Crazyradio 2.0;
 
     const uint8_t enableSafelink[] = {0xFF, 0x05, 1};
     const uint8_t ping[] = {0xFF};

From 9b4e72d44c144838128b98c64885ac6af572f70c Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <hoenig@tu-berlin.de>
Date: Thu, 27 Jul 2023 11:44:45 +0200
Subject: [PATCH 2/2] add example that fails with crazyradio2

---
 CMakeLists.txt                     |  8 ++++
 examples/broadcast_and_console.cpp | 63 ++++++++++++++++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 examples/broadcast_and_console.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b22aeb7..83b28a5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -129,6 +129,14 @@ if (BUILD_CPP_EXAMPLES)
   target_link_libraries(example_broadcast
     crazyflieLinkCpp
   )
+
+  # example_broadcast_and_console
+  add_executable(example_broadcast_and_console
+    examples/broadcast_and_console.cpp
+  )
+  target_link_libraries(example_broadcast_and_console
+    crazyflieLinkCpp
+  )
 endif()
 
 if (BUILD_PYTHON_BINDINGS)
diff --git a/examples/broadcast_and_console.cpp b/examples/broadcast_and_console.cpp
new file mode 100644
index 0000000..ea86eda
--- /dev/null
+++ b/examples/broadcast_and_console.cpp
@@ -0,0 +1,63 @@
+#include <iostream>
+#include <thread>
+
+#include "crazyflieLinkCpp/Connection.h"
+#include "PacketUtils.hpp"
+
+using namespace bitcraze::crazyflieLinkCpp;
+
+void run1()
+{
+    Connection con("radio://0/80/2M/E7E7E7E7E7");
+
+    const auto start = std::chrono::high_resolution_clock::now();
+    while (true) {
+        Packet p = con.recv(0);
+        if (p.port() == 0 && p.channel() == 0) {
+            std::string str((const char*)p.payload(), (size_t)p.payloadSize());
+            std::cout << str;
+        }
+
+        const auto end = std::chrono::high_resolution_clock::now();
+        const std::chrono::duration<double, std::milli> elapsed = end - start;
+        if (elapsed.count() > 5000) {
+            break;
+        }
+    }
+}
+
+void run2()
+{
+    /* Creates a connection that will broadcast to all
+     * crazyflies on channel 80. Note that this requires
+     * updating the Crazyradio firmware from its factory version
+     */
+    Connection broadcastConnection("radiobroadcast://*/80/2M");
+
+    // Requires high level commander enabled (param commander.enHighLevel == 1)
+    std::cout << "Taking off..." << std::endl;
+    broadcastConnection.send(PacketUtils::takeoffCommand(0.5f, 0.0f, 3.0f));
+    std::this_thread::sleep_for(std::chrono::milliseconds(3250));
+
+    std::cout << "Landing..." << std::endl;
+    broadcastConnection.send(PacketUtils::landCommand(0.0f, 0.0f, 3.0f));
+    std::this_thread::sleep_for(std::chrono::milliseconds(3250));
+
+    std::cout << "Stopping..." << std::endl;
+    broadcastConnection.send(PacketUtils::stopCommand());
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    
+    broadcastConnection.close();
+    std::cout << "Done." << std::endl;
+}
+
+int main()
+{
+    std::thread t1(run1);
+    std::thread t2(run2);
+
+    t1.join();
+    t2.join();
+
+    return 0;
+}
\ No newline at end of file