[paparazzi-commits] [paparazzi/paparazzi] 85777e: [rotorcraft] add a GUIDED mode

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 85777e86cd7655fd73b576e7353950b6fa64ee86
      
https://github.com/paparazzi/paparazzi/commit/85777e86cd7655fd73b576e7353950b6fa64ee86
  Author: Felix Ruess <address@hidden>
  Date:   2015-12-12 (Sat, 12 Dec 2015)

  Changed paths:
    M conf/messages.xml
    M conf/settings/rotorcraft_basic.xml
    M sw/airborne/firmwares/rotorcraft/autopilot.c
    M sw/airborne/firmwares/rotorcraft/autopilot.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
    M sw/ground_segment/cockpit/live.ml
    M sw/ground_segment/tmtc/server_globals.ml

  Log Message:
  -----------
  [rotorcraft] add a GUIDED mode

meant for controlling the rotorcraft via external input (from a module or 
datalink message)

Currently positions mode only:
- specify frame via first 4 bits in flags:
  - 0x0: LOCAL_NED
  - 0x1: LOCAL_OFFSET_NED
  - 0x2: BODY_NED
  - 0x3: BODY_OFFSET_NED


  Commit: 776a1f10bb6695ff5a3b6c8b075d79dfbff280d8
      
https://github.com/paparazzi/paparazzi/commit/776a1f10bb6695ff5a3b6c8b075d79dfbff280d8
  Author: Felix Ruess <address@hidden>
  Date:   2015-12-12 (Sat, 12 Dec 2015)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/firmwares/rotorcraft/datalink.c

  Log Message:
  -----------
  [messages] add POSITION_TARGET_LOCAL_NED to control guided mode


  Commit: 8cee6f874b49921bd0e0e53606144bc092070663
      
https://github.com/paparazzi/paparazzi/commit/8cee6f874b49921bd0e0e53606144bc092070663
  Author: Felix Ruess <address@hidden>
  Date:   2015-12-15 (Tue, 15 Dec 2015)

  Changed paths:
    A sw/ground_segment/python/guided_mode_example.py
    M sw/lib/python/ivy_msg_interface.py
    M sw/lib/python/pprz_msg/message.py
    M sw/lib/python/settings_xml_parse.py

  Log Message:
  -----------
  [python] add guided_mode_example.py to show usage


  Commit: 93b7bae3efbd76e29ce80b3dfadb01d2e232aa04
      
https://github.com/paparazzi/paparazzi/commit/93b7bae3efbd76e29ce80b3dfadb01d2e232aa04
  Author: Felix Ruess <address@hidden>
  Date:   2015-12-15 (Tue, 15 Dec 2015)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/firmwares/rotorcraft/datalink.c
    M sw/ground_segment/python/guided_mode_example.py

  Log Message:
  -----------
  [messages] rename POSITION_TARGET_LOCAL_NED to GUIDED_SETPOINT_NED


  Commit: 6e07ea72a3d1d9a8538627f8470085ca8b01414e
      
https://github.com/paparazzi/paparazzi/commit/6e07ea72a3d1d9a8538627f8470085ca8b01414e
  Author: Felix Ruess <address@hidden>
  Date:   2015-12-16 (Wed, 16 Dec 2015)

  Changed paths:
    M conf/messages.xml
    M conf/settings/rotorcraft_basic.xml
    M sw/airborne/firmwares/rotorcraft/autopilot.c
    M sw/airborne/firmwares/rotorcraft/autopilot.h
    M sw/airborne/firmwares/rotorcraft/datalink.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
    M sw/ground_segment/cockpit/live.ml
    A sw/ground_segment/python/guided_mode_example.py
    M sw/ground_segment/tmtc/server_globals.ml
    M sw/lib/python/ivy_msg_interface.py
    M sw/lib/python/pprz_msg/message.py
    M sw/lib/python/settings_xml_parse.py

  Log Message:
  -----------
  Merge pull request #1457 from paparazzi/rotorcraft_guided_mode

Rotorcraft guided mode

Set the autopilot mode to GUIDED and then send the GUIDED_SETPOINT_NED message 
to "goto" a position:
currently you can specify a frame in flags (first 4 bits):
- 0x0: LOCAL_NED, position in local NED frame
- 0x1: LOCAL_OFFSET_NED, position relative to where the vehicle currently is in 
NED
- 0x2: BODY_NED, same as LOCAL_NED for position
- 0x3: BODY_OFFSET_NED, position relative to vehicle pos AND heading (so 
X=forward, Y=right, Z=down)


Compare: 
https://github.com/paparazzi/paparazzi/compare/10b56e482ab5...6e07ea72a3d1