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[messages] rename POSITION_TARGET_LOCAL_NED to GUIDED_SETPOINT_NED

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This commit is contained in:
Felix Ruess
2015-12-15 22:47:19 +01:00
parent 8cee6f874b
commit 93b7bae3ef
3 changed files with 11 additions and 11 deletions
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conf/messages.xml
+1 -1
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@@ -2437,7 +2437,7 @@
<field name="ac_id" type="uint8"/>
</message>
<message name="POSITION_TARGET_LOCAL_NED" id="40" link="forwarded">
<message name="GUIDED_SETPOINT_NED" id="40" link="forwarded">
<description>
Set vehicle position or velocity in NED.
Frame can be specified with the bits 0-3 in the flags field:
sw/airborne/firmwares/rotorcraft/datalink.c
+7 -7
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@@ -187,13 +187,13 @@ void dl_parse_msg(void)
break;
#endif
case DL_POSITION_TARGET_LOCAL_NED:
if (DL_POSITION_TARGET_LOCAL_NED_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t flags = DL_POSITION_TARGET_LOCAL_NED_flags(dl_buffer);
float x = DL_POSITION_TARGET_LOCAL_NED_x(dl_buffer);
float y = DL_POSITION_TARGET_LOCAL_NED_y(dl_buffer);
float z = DL_POSITION_TARGET_LOCAL_NED_z(dl_buffer);
float yaw = DL_POSITION_TARGET_LOCAL_NED_yaw(dl_buffer);
case DL_GUIDED_SETPOINT_NED:
if (DL_GUIDED_SETPOINT_NED_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t flags = DL_GUIDED_SETPOINT_NED_flags(dl_buffer);
float x = DL_GUIDED_SETPOINT_NED_x(dl_buffer);
float y = DL_GUIDED_SETPOINT_NED_y(dl_buffer);
float z = DL_GUIDED_SETPOINT_NED_z(dl_buffer);
float yaw = DL_GUIDED_SETPOINT_NED_yaw(dl_buffer);
switch (flags) {
case 0x00:
case 0x02:
sw/ground_segment/python/guided_mode_example.py
+3 -3
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@@ -75,7 +75,7 @@ class Guidance(object):
"""
goto a local NorthEastDown position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x00
msg['x'] = north
@@ -90,7 +90,7 @@ class Guidance(object):
"""
goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x01
msg['x'] = north
@@ -104,7 +104,7 @@ class Guidance(object):
"""
goto to a position relative to current position and heading in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "POSITION_TARGET_LOCAL_NED")
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x03
msg['x'] = forward