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[paparazzi-commits] [paparazzi/paparazzi] 85777e: [rotorcraft] add a GUI
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Subject: |
[paparazzi-commits] [paparazzi/paparazzi] 85777e: [rotorcraft] add a GUIDED mode |
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Date: |
Tue, 15 Dec 2015 15:45:39 -0800 |
Branch: refs/heads/v5.7
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: 2a6b981b247524aba1de25d4d7fc16ed245baa02
https://github.com/paparazzi/paparazzi/commit/2a6b981b247524aba1de25d4d7fc16ed245baa02
Author: Ewoud Smeur <address@hidden>
Date: 2015-12-15 (Tue, 15 Dec 2015)
Changed paths:
M conf/airframes/TUDELFT/tudelft_heli450.xml
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
Log Message:
-----------
rate sp in degrees/s
Commit: 002119cac0b8b5386526db83d15496663568c90d
https://github.com/paparazzi/paparazzi/commit/002119cac0b8b5386526db83d15496663568c90d
Author: Open UAS <>
Date: 2015-12-15 (Tue, 15 Dec 2015)
Changed paths:
M conf/airframes/TUDELFT/tudelft_selfie.xml
Log Message:
-----------
Removed quot and new format added of string and array string types
Commit: 7009fbb12d8fa863399fb53dcd0fd528d1abcfbc
https://github.com/paparazzi/paparazzi/commit/7009fbb12d8fa863399fb53dcd0fd528d1abcfbc
Author: Ewoud Smeur <address@hidden>
Date: 2015-12-15 (Tue, 15 Dec 2015)
Changed paths:
M conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
M conf/airframes/BR/DelFlyDualPWMservo.xml
M conf/airframes/BR/DreamCacher_bart.xml
M conf/airframes/BR/asctec_br.xml
M conf/airframes/BR/bebop_default.xml
M conf/airframes/BR/bebop_indi.xml
M conf/airframes/BR/bebop_indi_frog.xml
M conf/airframes/BR/bebop_indi_frog2.xml
M conf/airframes/BR/bebop_indi_frog_flip.xml
M conf/airframes/BR/ladybird_kit_bart.xml
M conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
M conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
M conf/airframes/BR/ladybird_kit_indi_bart.xml
M conf/airframes/BR/mavtec4_br.xml
M conf/airframes/CDW/cdw_asctec.xml
M conf/airframes/CDW/cdw_bebop.xml
M conf/airframes/CDW/cdw_mavtec.xml
M conf/airframes/CDW/cdw_tricopter.xml
M conf/airframes/CRIDEA/cridea_quadsuave.xml
M conf/airframes/ENAC/quadrotor/ard2_base_control.xml
M conf/airframes/ENAC/quadrotor/bebop_201.xml
M conf/airframes/ENAC/quadrotor/blender.xml
M conf/airframes/ENAC/quadrotor/booz2_g1.xml
M conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
M conf/airframes/ESDEN/esden_cocto_lm2a2.xml
M conf/airframes/ESDEN/esden_gain_scheduling_example.xml
M conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
M conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
M conf/airframes/ESDEN/esden_lisa2_hex.xml
M conf/airframes/ESDEN/esden_qs_asp22.xml
M conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
M conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
M conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
M conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
M conf/airframes/ESDEN/esden_quady_ls10pwm.xml
M conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
M conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
M conf/airframes/FLIXR/flixr_lisa_mx.xml
M conf/airframes/FLIXR/flixr_zmr250_elle0.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
M conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
M conf/airframes/LS/ls_quadrotor_altura_lisa_m_2_0.xml
M conf/airframes/LS/ls_quadrotor_bebop_small_gps_messages.xml
M conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
M conf/airframes/OPENUAS/openuas_ardrone2.xml
M conf/airframes/OPENUAS/openuas_itsybitsy.xml
M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
M conf/airframes/OPENUAS/openuas_psi.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_asctec_freek.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
M conf/airframes/TUDELFT/tudelft_logo600.xml
M conf/airframes/TUDELFT/tudelft_mavshot.xml
M conf/airframes/TUDELFT/tudelft_mavtec4.xml
M conf/airframes/TUDELFT/tudelft_mavtec5.xml
M conf/airframes/TUDELFT/tudelft_quadshot_pylons.xml
M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
M conf/airframes/TUDELFT/tudelft_selfie.xml
M conf/airframes/TUDELFT/tudelft_walkera_genius_v2.xml
M conf/airframes/examples/ardrone2.xml
M conf/airframes/examples/ardrone2_opticflow_hover.xml
M conf/airframes/examples/ardrone2_px4flow_hover.xml
M conf/airframes/examples/bebop.xml
M conf/airframes/examples/bebop2_indi.xml
M conf/airframes/examples/booz2.xml
M conf/airframes/examples/bumblebee_quad.xml
M conf/airframes/examples/h_hex.xml
M conf/airframes/examples/krooz_sd_quad_mkk.xml
M conf/airframes/examples/ladybird_lisa_s.xml
M conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
M conf/airframes/examples/quadrotor_elle0.xml
M conf/airframes/examples/quadrotor_hbmini.xml
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
M conf/airframes/examples/quadrotor_lisa_mx.xml
M conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
M conf/airframes/examples/quadrotor_lisa_s.xml
M conf/airframes/examples/quadrotor_navgo.xml
M conf/airframes/examples/quadrotor_navstik.xml
M conf/airframes/examples/quadshot_asp21_spektrum.xml
M conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_rc.xml
M conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_rc.xml
M conf/airframes/untested/ardrone2_indi.xml
M conf/airframes/untested/ardrone2_optitrack.xml
M conf/airframes/untested/bebop_indi.xml
M conf/airframes/untested/hex_naze32.xml
M conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
M conf/airframes/untested/krooz_sd_hexa_mkk.xml
M conf/airframes/untested/krooz_sd_okto_mkk.xml
M conf/airframes/untested/krooz_sd_quad_pwm.xml
M conf/airframes/untested/lisa_asctec.xml
M conf/airframes/untested/quad_cc3d.xml
M conf/airframes/untested/quad_cjmcu.xml
M conf/airframes/untested/quad_flip32.xml
M conf/airframes/untested/quadrotor_lisa_m_mkk.xml
M conf/airframes/untested/quadrotor_mlkf.xml
M conf/airframes/untested/quadrotor_pixhawk_lite.xml
M conf/airframes/untested/quadrotor_px4fmu.xml
M conf/airframes/untested/stm32f4_discovery_test.xml
Log Message:
-----------
updated all airframe files to new rate control setpoint
Commit: 10b56e482ab56c85b5fe47152fefe47850df7a0a
https://github.com/paparazzi/paparazzi/commit/10b56e482ab56c85b5fe47152fefe47850df7a0a
Author: Felix Ruess <address@hidden>
Date: 2015-12-15 (Tue, 15 Dec 2015)
Changed paths:
M conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
M conf/airframes/BR/DelFlyDualPWMservo.xml
M conf/airframes/BR/DreamCacher_bart.xml
M conf/airframes/BR/asctec_br.xml
M conf/airframes/BR/bebop_default.xml
M conf/airframes/BR/bebop_indi.xml
M conf/airframes/BR/bebop_indi_frog.xml
M conf/airframes/BR/bebop_indi_frog2.xml
M conf/airframes/BR/bebop_indi_frog_flip.xml
M conf/airframes/BR/ladybird_kit_bart.xml
M conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
M conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
M conf/airframes/BR/ladybird_kit_indi_bart.xml
M conf/airframes/BR/mavtec4_br.xml
M conf/airframes/CDW/cdw_asctec.xml
M conf/airframes/CDW/cdw_bebop.xml
M conf/airframes/CDW/cdw_mavtec.xml
M conf/airframes/CDW/cdw_tricopter.xml
M conf/airframes/CRIDEA/cridea_quadsuave.xml
M conf/airframes/ENAC/quadrotor/ard2_base_control.xml
M conf/airframes/ENAC/quadrotor/bebop_201.xml
M conf/airframes/ENAC/quadrotor/blender.xml
M conf/airframes/ENAC/quadrotor/booz2_g1.xml
M conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
M conf/airframes/ESDEN/esden_cocto_lm2a2.xml
M conf/airframes/ESDEN/esden_gain_scheduling_example.xml
M conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
M conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
M conf/airframes/ESDEN/esden_lisa2_hex.xml
M conf/airframes/ESDEN/esden_qs_asp22.xml
M conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
M conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
M conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
M conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
M conf/airframes/ESDEN/esden_quady_ls10pwm.xml
M conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
M conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
M conf/airframes/FLIXR/flixr_lisa_mx.xml
M conf/airframes/FLIXR/flixr_zmr250_elle0.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
M conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
M conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
M conf/airframes/LS/ls_quadrotor_altura_lisa_m_2_0.xml
M conf/airframes/LS/ls_quadrotor_bebop_small_gps_messages.xml
M conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
M conf/airframes/OPENUAS/openuas_ardrone2.xml
M conf/airframes/OPENUAS/openuas_itsybitsy.xml
M conf/airframes/OPENUAS/openuas_leapfrogeye.xml
M conf/airframes/OPENUAS/openuas_psi.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml
M conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
M conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
M conf/airframes/TUDELFT/tudelft_asctec_freek.xml
M conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop_flip.xml
M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
M conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
M conf/airframes/TUDELFT/tudelft_heli450.xml
M conf/airframes/TUDELFT/tudelft_logo600.xml
M conf/airframes/TUDELFT/tudelft_mavshot.xml
M conf/airframes/TUDELFT/tudelft_mavtec4.xml
M conf/airframes/TUDELFT/tudelft_mavtec5.xml
M conf/airframes/TUDELFT/tudelft_quadshot_pylons.xml
M conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
M conf/airframes/TUDELFT/tudelft_selfie.xml
M conf/airframes/TUDELFT/tudelft_walkera_genius_v2.xml
M conf/airframes/examples/ardrone2.xml
M conf/airframes/examples/ardrone2_opticflow_hover.xml
M conf/airframes/examples/ardrone2_px4flow_hover.xml
M conf/airframes/examples/bebop.xml
M conf/airframes/examples/bebop2_indi.xml
M conf/airframes/examples/booz2.xml
M conf/airframes/examples/bumblebee_quad.xml
M conf/airframes/examples/h_hex.xml
M conf/airframes/examples/krooz_sd_quad_mkk.xml
M conf/airframes/examples/ladybird_lisa_s.xml
M conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
M conf/airframes/examples/quadrotor_elle0.xml
M conf/airframes/examples/quadrotor_hbmini.xml
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
M conf/airframes/examples/quadrotor_lisa_mx.xml
M conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
M conf/airframes/examples/quadrotor_lisa_s.xml
M conf/airframes/examples/quadrotor_navgo.xml
M conf/airframes/examples/quadrotor_navstik.xml
M conf/airframes/examples/quadshot_asp21_spektrum.xml
M conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_rc.xml
M conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_rc.xml
M conf/airframes/untested/ardrone2_indi.xml
M conf/airframes/untested/ardrone2_optitrack.xml
M conf/airframes/untested/bebop_indi.xml
M conf/airframes/untested/hex_naze32.xml
M conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
M conf/airframes/untested/krooz_sd_hexa_mkk.xml
M conf/airframes/untested/krooz_sd_okto_mkk.xml
M conf/airframes/untested/krooz_sd_quad_pwm.xml
M conf/airframes/untested/lisa_asctec.xml
M conf/airframes/untested/quad_cc3d.xml
M conf/airframes/untested/quad_cjmcu.xml
M conf/airframes/untested/quad_flip32.xml
M conf/airframes/untested/quadrotor_lisa_m_mkk.xml
M conf/airframes/untested/quadrotor_mlkf.xml
M conf/airframes/untested/quadrotor_pixhawk_lite.xml
M conf/airframes/untested/quadrotor_px4fmu.xml
M conf/airframes/untested/stm32f4_discovery_test.xml
M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
Log Message:
-----------
Merge pull request #1479 from EwoudSmeur/rate_sp
Rate controller: sp in degrees/s
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)
Commit: ea08e974b0a04ea027bb75a0099678757a89db06
https://github.com/paparazzi/paparazzi/commit/ea08e974b0a04ea027bb75a0099678757a89db06
Author: Felix Ruess <address@hidden>
Date: 2015-12-16 (Wed, 16 Dec 2015)
Changed paths:
M sw/airborne/modules/datalink/mavlink.c
Log Message:
-----------
[mavlink] start adding guided mode stuff
Commit: 95679277533e6fa4971794c5f2e57b3cedcad237
https://github.com/paparazzi/paparazzi/commit/95679277533e6fa4971794c5f2e57b3cedcad237
Author: Felix Ruess <address@hidden>
Date: 2015-12-16 (Wed, 16 Dec 2015)
Changed paths:
M sw/airborne/modules/datalink/missionlib/waypoints.c
Log Message:
-----------
[mavlink] accept waypoint in MAV_FRAME_GLOBAL_RELATIVE_ALT
Compare:
https://github.com/paparazzi/paparazzi/compare/19510560933d...95679277533e