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paparazzi / pprzlink

Message and communication library for the Paparazzi UAV system
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PPRZLINK v2.0 #52

Closed gautierhattenberger closed 7 years ago

gautierhattenberger commented 7 years ago

This is following the roadmap as described here: http://wiki.paparazziuav.org/wiki/Roadmap#Communication_Roadmap

Header size is increased by 2 bytes, allowing to include receiver, class and component IDs to the two existing byte (sender and message IDs). This will allow in particular to send messages from aircraft to aircraft without ambiguity. All libraries have been updated (except for IVY part, unchanged but compatible). The version to be used is selected during the install. The generated C code has backward compatible macros and functions, plus new API to use full capabilities of the new protocol.

podhrmic commented 7 years ago

@gautierhattenberger I ll have a look at it hopefully today

gautierhattenberger commented 7 years ago

as a side note: those changes are not changing the default behavior which is to use the v1.0 (unmodified) Also, messages version and library version are not correlated.

podhrmic commented 7 years ago

It would be good to have some example on wiki showing how to use pprzlink v2 - like what needs to be switched in the autopilot code etc. so people (including myself) can experiment with it.

gautierhattenberger commented 7 years ago

We already have a development branch ready for (https://github.com/enacuavlab/paparazzi/tree/pprzlink_v2) but it is pointing to our own pprzlink repository. As I don't want to push this in the paparazzi repository, I'm waiting for this pull request to be accepted and then I will make the one for using this in the general paparazzi code.