[paparazzi-commits] [paparazzi/paparazzi] 6686c9: [guidance] Expansion of the guided protocol (#1694...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 6686c9a0cef4fe0e1e6593baf1e67ba45dd59ed8
      
https://github.com/paparazzi/paparazzi/commit/6686c9a0cef4fe0e1e6593baf1e67ba45dd59ed8
  Author: Kirk Scheper <address@hidden>
  Date:   2016-06-10 (Fri, 10 Jun 2016)

  Changed paths:
    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/rotorcraft_datalink.c
    M sw/ext/pprzlink
    M sw/ground_segment/python/guided_mode_example.py

  Log Message:
  -----------
  [guidance] Expansion of the guided protocol (#1694)

Updates the GUIDED_SETPOINT_NED message to set the reference frame of each 
input separately and adds a heading_rate setpoint.

Frame can be specified with the bits 0-3
Velocity of position setpoint can be specified with the bits 5-7
Flags field definition:
- bit 0: x,y as offset coordinates
- bit 1: x,y in body coordinates
- bit 2: z as offset coordinates
- bit 3: yaw as offset coordinates
- bit 4: free
- bit 5: x,y as vel
- bit 6: z as vel
- bit 7: yaw as rate